Fault Diagnosis of Hydraulic Servo Valve Based on Genetic Optimization RBF-BP Neural Network

Directory of Open Access Journals (Sweden)

Li-Ping FAN

2014-04-01

Full Text Available Electro-hydraulic servo valves are core components of the hydraulic servo system of rolling mills. It is necessary to adopt an effective fault diagnosis method to keep the hydraulic servo valve in a good work state. In this paper, RBF and BP neural network are integrated effectively to build a double hidden layers RBF-BP neural network for fault diagnosis. In the process of training the neural network, genetic algorithm (GA is used to initialize and optimize the connection weights and thresholds of the network. Several typical fault states are detected by the constructed GA-optimized fault diagnosis scheme. Simulation results shown that the proposed fault diagnosis scheme can give satisfactory effect.

Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.

Science.gov (United States)

Guo, Qing; Yu, Tian; Jiang, Dan

2015-11-01

In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

Science.gov (United States)

Shen, Gang; Zhu, Zhencai; Zhao, Jinsong; Zhu, Weidong; Tang, Yu; Li, Xiang

2017-03-01

This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H ∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. Copyright © 2016. Published by Elsevier Ltd.

HYDRAULIC SERVO CONTROL MECHANISM

Science.gov (United States)

Hussey, R.B.; Gottsche, M.J. Jr.

1963-09-17

A hydraulic servo control mechanism of compact construction and low fluid requirements is described. The mechanism consists of a main hydraulic piston, comprising the drive output, which is connected mechanically for feedback purposes to a servo control piston. A control sleeve having control slots for the system encloses the servo piston, which acts to cover or uncover the slots as a means of controlling the operation of the system. This operation permits only a small amount of fluid to regulate the operation of the mechanism, which, as a result, is compact and relatively light. This mechanism is particuiarly adaptable to the drive and control of control rods in nuclear reactors. (auth)

An energy-saving nonlinear position control strategy for electro-hydraulic servo systems.

Science.gov (United States)

Baghestan, Keivan; Rezaei, Seyed Mehdi; Talebi, Heidar Ali; Zareinejad, Mohammad

2015-11-01

The electro-hydraulic servo system (EHSS) demonstrates numerous advantages in size and performance compared to other actuation methods. Oftentimes, its utilization in industrial and machinery settings is limited by its inferior efficiency. In this paper, a nonlinear backstepping control algorithm with an energy-saving approach is proposed for position control in the EHSS. To achieve improved efficiency, two control valves including a proportional directional valve (PDV) and a proportional relief valve (PRV) are used to achieve the control objectives. To design the control algorithm, the state space model equations of the system are transformed to their normal form and the control law through the PDV is designed using a backstepping approach for position tracking. Then, another nonlinear set of laws is derived to achieve energy-saving through the PRV input. This control design method, based on the normal form representation, imposes internal dynamics on the closed-loop system. The stability of the internal dynamics is analyzed in special cases of operation. Experimental results verify that both tracking and energy-saving objectives are satisfied for the closed-loop system. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Modal space three-state feedback control for electro-hydraulic servo plane redundant driving mechanism with eccentric load decoupling.

Science.gov (United States)

Zhao, Jinsong; Wang, Zhipeng; Zhang, Chuanbi; Yang, Chifu; Bai, Wenjie; Zhao, Zining

2018-06-01

The shaking table based on electro-hydraulic servo parallel mechanism has the advantage of strong carrying capacity. However, the strong coupling caused by the eccentric load not only affects the degree of freedom space control precision, but also brings trouble to the system control. A novel decoupling control strategy is proposed, which is based on modal space to solve the coupling problem for parallel mechanism with eccentric load. The phenomenon of strong dynamic coupling among degree of freedom space is described by experiments, and its influence on control design is discussed. Considering the particularity of plane motion, the dynamic model is built by Lagrangian method to avoid complex calculations. The dynamic equations of the coupling physical space are transformed into the dynamic equations of the decoupling modal space by using the weighted orthogonality of the modal main mode with respect to mass matrix and stiffness matrix. In the modal space, the adjustments of the modal channels are independent of each other. Moreover, the paper discusses identical closed-loop dynamic characteristics of modal channels, which will realize decoupling for degree of freedom space, thus a modal space three-state feedback control is proposed to expand the frequency bandwidth of each modal channel for ensuring their near-identical responses in a larger frequency range. Experimental results show that the concept of modal space three-state feedback control proposed in this paper can effectively reduce the strong coupling problem of degree of freedom space channels, which verify the effectiveness of the proposed model space state feedback control strategy for improving the control performance of the electro-hydraulic servo plane redundant driving mechanism. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Design and performance characteristic analysis of servo valve-type water hydraulic poppet valve

International Nuclear Information System (INIS)

Park, Sung Hwan

2009-01-01

For water hydraulic system control, the flow or pressure control using high-speed solenoid valve controlled by PWM control method could be a good solution for prevention of internal leakage. However, since the PWM control of on-off valves cause extensive flow and pressure fluctuation, it is difficult to control the water hydraulic actuators precisely. In this study, the servo valve-type water hydraulic valve using proportional poppet as the main valve is designed and the performance characteristics of the servo valve-type water hydraulic valve are analyzed. Furthermore, it is demonstrated through experiments that a decline in control chamber pressure that follows the change of pilot flow is caused by the occurrence of cavitation around the proportional poppet, and that fundamental characteristics of the developed valve remain unaffected by the occurrence of cavitation

A low order adaptive control scheme for hydraulic servo systems

DEFF Research Database (Denmark)

Andersen, Torben Ole; Pedersen, Henrik Clemmensen; Bech, Michael Møller

2015-01-01

This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical...

Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

International Nuclear Information System (INIS)

Kim, Hyo-gon; Han, Changsoo; Lee, Jong-won; Park, Sangdeok

2015-01-01

Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program

Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

Energy Technology Data Exchange (ETDEWEB)

Kim, Hyo-gon; Han, Changsoo [Hanyang University, Seoul (Korea, Republic of); Lee, Jong-won [Korea University of Science and Technology, Seoul (Korea, Republic of); Park, Sangdeok [Korea Institute of Industrial Technology, Seoul (Korea, Republic of)

2015-02-15

Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.

Synthesis of Servo Pneumatic/Hydraulic Drive

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K D. Efremova

2017-01-01

Full Text Available Servo pneumatic and / or hydraulic drives are widely used in modern engineering and process control. The efficiency of using pneumatic / hydraulic drives depends on their parameters and characteristics. To select the optimal drive parameters, various methods are used, based on finding the minimum of the target (target or criteria function.The objective of this paper was to apply one crucial criterion (target function that provides determination of optimal parameters of the pneumatic / hydraulic drive with the translational motion of the end-effector as well as its use in the synthesis of the servo pneumatic cylinder. The article shows the form of the target function representing a set of drive parameters that do not have direct relationships with each other in a dimensionless form for the pneumatic / hydraulic drive with the translational motion of the end-effector. To calculate the parameters of the servo drive close to the optimal ones, a two-criteria LPτ search was used. As criteria, were used the decisive criterion - the proposed target function, and the power developed by the actuator of the pneumatic / hydraulic drive, which were presented in a dimensionless form. It is shown that the criterion for solution optimality is the minimum distance of the selected point in the space of the normalized criteria from the origin. This point was determined. In addition to the proposed criteria, non-formalised requirements were taken into account: actual and mass-produced components of drive, in terms of which its parameters close to the optimal ones were determined, and the maximum relative error of the obtained useful power value of the servo pneumatic drive was estimated. The paper presents design features of two types of the servo pneumatic drive created, taking into account the proposed target function, implemented according to the schemes "hidden" and "spaced apart". The experimental static characteristic of the servo pneumatic drive is

Characteristic analysis of servo valve

International Nuclear Information System (INIS)

Ko, J. H.; Ryu, D. R.; Lee, J. H.; Kim, Y. S.; Na, J. C.; Kim, D. S.

2008-01-01

Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

Experimental evaluation of control strategies for hydraulic servo robot

DEFF Research Database (Denmark)

Bech, Michael Møller; Andersen, Torben Ole; Pedersen, Henrik C.

2013-01-01

In this paper different linear and non-linear controllers applied to a hydraulically driven servo robot are evaluated and validated. The task is to make the actuators of the manipulator track a position reference with minimum error. Hydraulic systems are intrinsically non-linear and using linear...... in industrial servo drives. The different controllers are compared and evaluated from simulation and experimental results....

Characteristic analysis and experiment of pneumatic servo valve

International Nuclear Information System (INIS)

Kim, Dong Soo; Lee, Won Hee; Choi, Byung Oh

2004-01-01

Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

Inducement of Design Parameters for Reliability Improvement of Servo Actuator for Hydraulic Valve Operation

Energy Technology Data Exchange (ETDEWEB)

Sung, Baek Ju; Kim, Do Sik [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

2014-05-15

The precision hydraulic valve is widely used in various industrial field like aircraft, automobile, and general machinery. Servo actuator is the most important device for driving the precise hydraulic valve. The reliable operation of servo actuator effects on the overall hydraulic system. The performance of servo actuator relies on frequency response and step response according to arbitrary input signal. In this paper, we performed the analysis for the components of servo actuator to satisfy the reliable operation and response characteristics through the reliability analysis, and also induced the design parameters to realize the reliable operation and fast response characteristics of servo actuator for hydraulic valve operation through the empirical knowledge of experts and electromagnetic theories. We suggested the design equations to determine the values of design parameters of servo actuator as like bobbin size, length of yoke and plunger and turn number of coil, and verified the achieved design values through FEM analysis and performance tests using some prototypes of servo actuators adapted in hydraulic valve.

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Science.gov (United States)

Yao, Jianyong

2018-06-01

Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modern industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear control, latest developments and brief perspectives of hydraulic servo systems are presented: Modelling uncertainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying disturbance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics (measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.) in nonlinear hydraulic servo control are briefly explored and discussed.

Researching on YH100 Numerical Control Servo Press Hydraulic Control System and Control Algorithm

Directory of Open Access Journals (Sweden)

Kai LI

2014-09-01

Full Text Available In order to study the numerical control (NC servo press hydraulic control system and its control algorithm. The numerical control servo press performance and control principle of hydraulic control system are analyzed. According to the flow equation of the hydraulic control valve, hydraulic cylinder flow continuity equation and the force balance equation of the hydraulic cylinder with load press, the mathematical model of hydraulic control system is established. And the servo press hydraulic system transfer function is deduced. Introducing the suitable immune particle swarm control algorithm for servo press hydraulic system, and the control system block diagram is established. Immune algorithm is used to optimize new control parameters of the system and adopt the new optimization results to optimize the system simulation. The simulation result shows that the hydraulic system’s transition time controlled by the immune particle swarm algorithm is shorter than traditional ones, and the control performance is obviously improved. Finally it can be concluded that immune particle swarm PID control have these characteristics such as quickness, stability and accuracy. Applying this principle into application, the obtained YH100 numerical control servo press hydraulic control system meets the requirement.

Project calculation of the steering mechanism hydraulic servo control in motor vehicles

Directory of Open Access Journals (Sweden)

Zoran Đukan Majkić

2013-10-01

resistance to wheel rotation in place The magnitude of the torque required to rotate drive wheels in place, is affected by: 1 load on wheels; 2 coefficient of friction of the tire surface; 3 dimensions and shape of the tire footprint on the surface, as deterimined by the pressure in the tire and its construction; 4 lateral stiffness of the tire; 5 turning radius of drive wheels; 6 angles of inclination of the pin; 7 moment of friction in pins and steering gear mechanism. To achieve the proper torque values of torsional resistance in drive wheels, it is necessary to take into account all these influential factors, as this provides a lower load on the elements in the control system while enabling easier control and reducing the moment of force on the steering wheel. Moment of resistance to rotating drive wheels in place according to Mitin Mitin obtained the coefficient  only for one tire so the use of this formula is practically impossible. Moment of resistance to rotating drive wheels in place according to Taborek Moment of resistance to rotating drive wheels in place according to Lisov This formula takes into account the radius of the tire, but does not take into account the pressure and elastic characteristics of tires. Moment of resistance ito rotating drive wheels in place by Litvinov For the calculation by this formula, it is necessary to know the dependence of the tire footprint surface and the load on it. Moment of resistance to rotating drive wheels in place by Gough Experimental studies have shown that this term is very acceptable. Dimensions of the executive hydraulic cylinder The control amplifier must provide that the wheels rotate in place when the force of the driver on the steering wheel is not above 160 – 200 N in a complete range of the rotation angles from   for the inner wheel to for the outer wheel. Reactive and centering elements of the hydraulic servo control The control system without a hydraulic servo control must have one very important

Hybrid Robust Control Law with Disturbance Observer for High-Frequency Response Electro-Hydraulic Servo Loading System

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Zhiqing Sheng

2016-04-01

Full Text Available Addressing the simulating issue of the helicopter-manipulating booster aerodynamic load with high-frequency dynamic load superimposed on a large static load, this paper studies the design of the robust controller for the electro-hydraulic loading system to realize the simulation of this kind of load. Firstly, the equivalent linear model of the electro-hydraulic loading system under assumed parameter uncertainty is established. Then, a hybrid control scheme is proposed for the loading system. This control scheme consists of a constant velocity feed-forward compensator, a robust inner loop compensator based on disturbance observer and a robust outer loop feedback controller. The constant velocity compensator eliminates most of the extraneous force at first, and then the double-loop cascade composition control strategy is employed to design the compensated system. The disturbance observer–based inner loop compensator further restrains the disturbances including the remaining extraneous force, and makes the actual plant tracking a nominal model approximately in a certain frequency range. The robust outer loop controller achieves the desired force-tracking performance, and guarantees system robustness in the high frequency region. The optimized low-pass filter Q(s is designed by using the H∞ mixed sensitivity optimization method. The simulation results show that the proposed hybrid control scheme and controller can effectively suppress the extraneous force and improve the robustness of the electro-hydraulic loading system.

Numerical calculation for flow field of servo-tube guided hydraulic control rod driving system

International Nuclear Information System (INIS)

He Keyu; Han Weishi

2010-01-01

A new-style hydraulic control rod driving mechanism was put forward by using servo-tube control elements for the design of control rod driving mechanism. The results of numerical simulation by CFD program Fluent for flow field of hydraulic driving cylinder indicate that the bigger the outer diameter of servo-tube, the smaller the resistance coefficient of variable throttle orifice. The zero position gap of variable throttle orifice could be determined on 0.2 mm in the design. The pressure difference between the upper and nether surfaces of piston was mainly created by the throttle function of fixed throttle orifice. It can be effectively controlled by changing the gap of variable throttle orifice. And the lift force of driving cylinder is able to meet the requirement on the design load. (authors)

Servo-hydraulic actuator in controllable canonical form: Identification and experimental validation

Science.gov (United States)

Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

2018-02-01

Hydraulic actuators have been widely used to experimentally examine structural behavior at multiple scales. Real-time hybrid simulation (RTHS) is one innovative testing method that largely relies on such servo-hydraulic actuators. In RTHS, interface conditions must be enforced in real time, and controllers are often used to achieve tracking of the desired displacements. Thus, neglecting the dynamics of hydraulic transfer system may result either in system instability or sub-optimal performance. Herein, we propose a nonlinear dynamical model for a servo-hydraulic actuator (a.k.a. hydraulic transfer system) coupled with a nonlinear physical specimen. The nonlinear dynamical model is transformed into controllable canonical form for further tracking control design purposes. Through a number of experiments, the controllable canonical model is validated.

A New Servo Control Drive for Electro Discharge Texturing System Industrial Applications Using Ultrasonic Technology

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M. Shafik

2013-07-01

Full Text Available This paper presents a new ultrasonic servo control drive for electro discharge texturing system industrial applications. The new drive is aiming to overcome the current teething issues of the existing electro discharge texturing system, servo control drive level of precision, processing stability, dynamic response and surface profile of the machined products. The new ultrasonic servo control drive consists of three main apparatuses, an ultrasonic motor, electronic driver and control unit. The ultrasonic motor consists of three main parts, the stator, rotor and sliding element. The motor design process, basic configuration, principles of motion, finite element analysis and experimental examination of the main characteristics is discussed in this paper. The electronic driver of the motor consists of two main stages which are the booster and piezoelectric amplifier. The experimental test and validation of the developed servo control drive in electro discharge texturing platform is also discussed and presented in this paper. The initial results showed that the ultrasonic servo control drive is able to provide: a bidirectional of motion, a resolution of <50μm and a dynamic response of <10msec. The electron microscopic micro examination into the textured samples showed that: a clear improvement in machining stability, products surface profile, a notable reduction in the processing time, arcing and short-circuiting teething phenomena.

Application of simple adaptive control to water hydraulic servo cylinder system

Science.gov (United States)

Ito, Kazuhisa; Yamada, Tsuyoshi; Ikeo, Shigeru; Takahashi, Koji

2012-09-01

Although conventional model reference adaptive control (MRAC) achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real applications. This paper discusses the use of simple adaptive control (SAC) for positioning a water hydraulic servo cylinder system. Compared with MRAC, SAC has a simpler and lower order structure, i.e., higher feasibility. The control performance of SAC is examined and evaluated on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic, and pneumatic drive systems. This technique is also preferred because of its high power density, high safety against fire hazards in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. MRAC has been already applied to compensate for these effects, and better control performances have been obtained. However, there have been no reports on the application of SAC for water hydraulics. To make clear the merits of SAC, the tracking control performance and robustness are discussed based on experimental results. SAC is confirmed to give better tracking performance compared with PI control, and a control precision comparable to MRAC (within 10 μm of the reference position) and higher robustness to parameter change, despite the simple controller. The research results ensure a wider application of simple adaptive control in real mechanical systems.

Stepping Motor - Hydraulic Motor Servo Drives for an NC Milling ...

African Journals Online (AJOL)

In this paper the retrofit design of the control system of an NC milling machine with a stepping motor and stepping motor - actuated hydraulic motor servo mechanism on the machines X-axis is described. The servo designed in the course of this study was tested practically and shown to be linear - the velocity following errors ...

Numerical calculation of three-dimensional flow field of servo-piston hydraulic control rod driving mechanism

International Nuclear Information System (INIS)

Yu Mingrui; Han Weishi; Wang Ge

2014-01-01

Servo-piston hydraulic control rod driving mechanism is a new type built-in driving mechanism which is suitable for integrated reactor and it can be moved continuously. The numerical calculation and analysis of the internal three-dimensional flow field inside the driving mechanism were carried out by the computational fluid dynamics software FLUENT. The result shows that the unique pressure mutation area of flow field inside the driving mechanism is at the place of the servo variable throttle orifice. The differential pressure of the piston can be effectively controlled by changing the gap of variable throttle orifice. When the gap changes within 0.5 mm, the differential pressure can be greatly changed, and then the driving mechanism motion state would be changed too. When the working pressure is 0.1 MPa, the hoisting capacity of the driving mechanism can meet the design requirements, and the flow rate is small. (authors)

A Study on the Air Vent Valve of the Hydraulic Servo Actuator for Steam Control of Power Plants

International Nuclear Information System (INIS)

Lee, Yong Bum; Lee, Jong Jik

2016-01-01

To produce adequate electricity in nuclear and thermal power plants, an optimal amount of steam should be supplied to a generator connected to high- and low-pressure steam turbines. A turbine output control device, which is a special steam valve employed to supply or interrupt the steam to the turbine, is operated using a hydraulic servo actuator. In power plants, the performance of servo actuators is degraded by the air generated from the hydraulic system, or causes frequent failures owing to an increase in the wear of the seal. This is due to the seal being burnt as generated heat using the produced compressed air. Some power plants have exhausted air using a fixed orifice, and thus they encounter power loss due to mass flow exhaust. Failures are generated in hydraulic pumps, electric motors, and valves, which are frequently operated. In this study, we perform modeling and analysis of the load-sensing air-exhaust valves, which can be passed through very fine flow under normal use conditions, and exhaust mass flow air at the beginning stage as with existing fixed orifices. Then, we propose a method to prevent failures due to the compressed air, and to ensure the control accuracy of hydraulic servo actuators.

A Study on the Air Vent Valve of the Hydraulic Servo Actuator for Steam Control of Power Plants

Energy Technology Data Exchange (ETDEWEB)

Lee, Yong Bum; Lee, Jong Jik [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

2016-06-15

To produce adequate electricity in nuclear and thermal power plants, an optimal amount of steam should be supplied to a generator connected to high- and low-pressure steam turbines. A turbine output control device, which is a special steam valve employed to supply or interrupt the steam to the turbine, is operated using a hydraulic servo actuator. In power plants, the performance of servo actuators is degraded by the air generated from the hydraulic system, or causes frequent failures owing to an increase in the wear of the seal. This is due to the seal being burnt as generated heat using the produced compressed air. Some power plants have exhausted air using a fixed orifice, and thus they encounter power loss due to mass flow exhaust. Failures are generated in hydraulic pumps, electric motors, and valves, which are frequently operated. In this study, we perform modeling and analysis of the load-sensing air-exhaust valves, which can be passed through very fine flow under normal use conditions, and exhaust mass flow air at the beginning stage as with existing fixed orifices. Then, we propose a method to prevent failures due to the compressed air, and to ensure the control accuracy of hydraulic servo actuators.

Parametric model of servo-hydraulic actuator coupled with a nonlinear system: Experimental validation

Science.gov (United States)

Maghareh, Amin; Silva, Christian E.; Dyke, Shirley J.

2018-05-01

Hydraulic actuators play a key role in experimental structural dynamics. In a previous study, a physics-based model for a servo-hydraulic actuator coupled with a nonlinear physical system was developed. Later, this dynamical model was transformed into controllable canonical form for position tracking control purposes. For this study, a nonlinear device is designed and fabricated to exhibit various nonlinear force-displacement profiles depending on the initial condition and the type of materials used as replaceable coupons. Using this nonlinear system, the controllable canonical dynamical model is experimentally validated for a servo-hydraulic actuator coupled with a nonlinear physical system.

Optimization and performance characteristics of servo-piston hydraulic control rod drive mechanism

International Nuclear Information System (INIS)

Yu Mingrui; Han Weishi; Wang Ge

2014-01-01

This paper introduces the structure and working principles of the servo-piston hydraulic control rod drive mechanism (SHCM), which can be moved continuously and has self-lock capacity. The steady state characteristics of SHCM are simulated using FLUENT codes. Based on comparison with the experimental results, the simulation is proven to be credible as a tool to describe the steady state characteristics. Finally, the influence of structural parameters is analyzed to obtain an optimal design. The experimental results indicate that the traction of the servo-tube is larger in the starting and braking stages. The resistance coefficient of SHCM increases gradually in the starting and lifting stage, and then tends to be stable. This coefficient has a maximum value while the inlet pressure is low. Performance norms of SHCM, such as the anti-disturbance ability and positioning accuracy, are tested, the anti-disturbance ability of the actuator is strong while the inlet pressure is fluctuating. The positioning accuracy is high regardless of the action process (lifting or not). (author)

Experimental study on performance characteristics of servo-piston hydraulic control rod driving mechanism

International Nuclear Information System (INIS)

Yu Mingrui; Han Weishi; Zhou Jie; Liu Chunyu; Yang Zhida; Wang Ge

2014-01-01

An experimental study on the performance characteristics of the servo-piston hydraulic control rod driving mechanism is carried out, the dynamic processes of the driving mechanism are obtained through the experiments in different working conditions. Combined with the structure characteristics of the driving mechanism, the change rule between the characteristics parameters and the working condition is analyzed. The results indicate that the traction of the servo-tube decreases quickly at first, then slowly and finally trends to be a constant with the working pressure increasing, the tractions are the largest in the startup and deboost phases. The under pressure of the drive cylinder rises slowly and the upper pressure decreases rapidly at the beginning of the rise, the variation trend is opposite in the falling stage. There exists quick and clear flow change processes in the startup and deboost phases, the flow mutation value reduces and the mutation time changes a little with the working pressure increasing. The driving mechanism runs stable and has high sensitivity precision, the load does not vibrate at all when working conditions has small disturbance, a steady transform can be realized among every condition. (authors)

Adaptive fuzzy PID control of hydraulic servo control system for large axial flow compressor

Science.gov (United States)

Wang, Yannian; Wu, Peizhi; Liu, Chengtao

2017-09-01

To improve the stability of the large axial compressor, an efficient and special intelligent hydraulic servo control system is designed and implemented. The adaptive fuzzy PID control algorithm is used to control the position of the hydraulic servo cylinder steadily, which overcomes the drawback that the PID parameters should be adjusted based on the different applications. The simulation and the test results show that the system has a better dynamic property and a stable state performance.

Adaptive Neural Network Control for Nonlinear Hydraulic Servo-System with Time-Varying State Constraints

Directory of Open Access Journals (Sweden)

Shu-Min Lu

2017-01-01

Full Text Available An adaptive neural network control problem is addressed for a class of nonlinear hydraulic servo-systems with time-varying state constraints. In view of the low precision problem of the traditional hydraulic servo-system which is caused by the tracking errors surpassing appropriate bound, the previous works have shown that the constraint for the system is a good way to solve the low precision problem. Meanwhile, compared with constant constraints, the time-varying state constraints are more general in the actual systems. Therefore, when the states of the system are forced to obey bounded time-varying constraint conditions, the high precision tracking performance of the system can be easily realized. In order to achieve this goal, the time-varying barrier Lyapunov function (TVBLF is used to prevent the states from violating time-varying constraints. By the backstepping design, the adaptive controller will be obtained. A radial basis function neural network (RBFNN is used to estimate the uncertainties. Based on analyzing the stability of the hydraulic servo-system, we show that the error signals are bounded in the compacts sets; the time-varying state constrains are never violated and all singles of the hydraulic servo-system are bounded. The simulation and experimental results show that the tracking accuracy of system is improved and the controller has fast tracking ability and strong robustness.

Fault Diagnosis for Hydraulic Servo System Using Compressed Random Subspace Based ReliefF

Directory of Open Access Journals (Sweden)

Yu Ding

2018-01-01

Full Text Available Playing an important role in electromechanical systems, hydraulic servo system is crucial to mechanical systems like engineering machinery, metallurgical machinery, ships, and other equipment. Fault diagnosis based on monitoring and sensory signals plays an important role in avoiding catastrophic accidents and enormous economic losses. This study presents a fault diagnosis scheme for hydraulic servo system using compressed random subspace based ReliefF (CRSR method. From the point of view of feature selection, the scheme utilizes CRSR method to determine the most stable feature combination that contains the most adequate information simultaneously. Based on the feature selection structure of ReliefF, CRSR employs feature integration rules in the compressed domain. Meanwhile, CRSR substitutes information entropy and fuzzy membership for traditional distance measurement index. The proposed CRSR method is able to enhance the robustness of the feature information against interference while selecting the feature combination with balanced information expressing ability. To demonstrate the effectiveness of the proposed CRSR method, a hydraulic servo system joint simulation model is constructed by HyPneu and Simulink, and three fault modes are injected to generate the validation data.

Suppression of Squeal Noise Excited by the Pressure Pulsation from the Flapper-Nozzle Valve inside a Hydraulic Energy System

Directory of Open Access Journals (Sweden)

Meng Chen

2018-04-01

Full Text Available Squeal noise often occurs in a two-stage electrohydraulic servo-valve, which is an unfavorable issue of modern hydraulic energy systems. The root causes of such noise from the servo-valve are still unclear. The objective of this paper is to explore the noise mechanism in a servo-valve excited by the pressure pulsations from the hydraulic energy system perspective. The suppressing capability of squeal noise energy is investigated by changing the pressure pulsation frequency and natural frequency of the flapper-armature assembly. The frequencies of the pressure pulsations are adjusted by setting different speeds of the hydraulic pump varying from 10,400–14,400 rpm, and two flapper-armature assemblies with different armature lengths are used in the tested hydraulic energy system. The first eight vibration mode shapes and natural frequencies of the flapper-armature assembly are obtained by numerical modal analysis using two different armature lengths. The characteristics of pressure pulsations at the pump outlet and in the chamber of the flapper-nozzle valve, armature vibration and noise are tested and compared with the natural frequencies of the flapper-armature assembly. The results reveal that the flapper-armature assembly vibrates and makes the noise with the same frequencies as the pressure pulsations inside the hydraulic energy system. Resonance appears when the frequency of the pressure pulsations coincides with the natural frequency of the flapper-armature assembly. Therefore, it can be concluded that the pressure pulsation energy from the power supply may excite the vibration of the flapper-armature assembly, which may consequently cause the squeal noise inside the servo-valve. It is verified by the numerical simulations and experiments that setting the pressure pulsation frequencies different from the natural frequencies of the flapper-armature assembly can suppress the resonance and squeal noise.

Nonlinear control for a class of hydraulic servo system.

Science.gov (United States)

Yu, Hong; Feng, Zheng-jin; Wang, Xu-yong

2004-11-01

The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.

Evaluation of Linear and Non-Linear Control Schemes Applied to a Hydraulic Servo System

DEFF Research Database (Denmark)

Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik Clemmensen

2005-01-01

Due to the innovation of low-cost electronics such as sensors, microcontrollers etc., the focus on highperformance motion control is increasing. This work focuses on position control of single-input single-output hydraulic servo-systems in general. A hydraulically actuated robotic manipulator...

Enhancement of tracking performance in electro-optical system based on servo control algorithm

Science.gov (United States)

Choi, WooJin; Kim, SungSu; Jung, DaeYoon; Seo, HyoungKyu

2017-10-01

Modern electro-optical surveillance and reconnaissance systems require tracking capability to get exact images of target or to accurately direct the line of sight to target which is moving or still. This leads to the tracking system composed of image based tracking algorithm and servo control algorithm. In this study, we focus on the servo control function to minimize the overshoot in the tracking motion and do not miss the target. The scheme is to limit acceleration and velocity parameters in the tracking controller, depending on the target state information in the image. We implement the proposed techniques by creating a system model of DIRCM and simulate the same environment, validate the performance on the actual equipment.

Optimum back-pressure forging using servo die cushion

OpenAIRE

Kawamoto, Kiichiro; Yoneyama, Takeshi; Okada, Masato; Kitayama, Satoshi; Chikahisa, Junpei

2014-01-01

This study focused on utilizing a servo die cushion (in conjunction with a servo press) as a "back-pressure load generator," to determine its effect on shape accuracy of the formed part and total forming load in forward extrusion during cold forging. The effect of back-pressure load application was confirmed in experiments, and the optimum setting pattern of back-pressure load was considered to minimize both shape accuracy of the formed part and back-pressure energy, which was representative ...

Fault Detection and Severity Analysis of Servo Valves Using Recurrence Quantification Analysis

Science.gov (United States)

2014-10-02

method of false nearest neighbors, we found that the minimum embedding dimension for the system is d=2. Figure 3 shows the recurrence plots of the...manufacturing process planning method for the components of a complex mechatronic system . Applied Mathematical Modelling, 37(24), 9829–9845. Samadani, M...diagnostics of nonlinear systems . A detailed nonlinear math- ematical model of a servo electro-hydraulic system has been used to demonstrate the procedure

Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

Directory of Open Access Journals (Sweden)

Lianpeng Zhang

2016-08-01

Full Text Available This paper is to develop an optimal electro-hydraulic dual-shaking table system with high waveform replication precision. The parameters of hydraulic cylinders, servo valves, hydraulic supply power and gravity balance system are designed and optimized in detail. To improve synchronization and tracking control precision, a hybrid control strategy is proposed. The cross-coupled control using a novel based on sliding mode control based on adaptive reaching law (ASMC, which can adaptively tune the parameters of sliding mode control (SMC, is proposed to reduce the synchronization error. To improve the tracking performance, the observer-based inverse control scheme combining the feed-forward inverse model controller and disturbance observer is proposed. The system model is identified applying the recursive least squares (RLS algorithm and then the feed-forward inverse controller is designed based on zero phase error tracking controller (ZPETC technique. To compensate disturbance and model errors, disturbance observer is used cooperating with the designed inverse controller. The combination of the novel ASMC cross-coupled controller and proposed observer-based inverse controller can improve the control precision noticeably. The dual-shaking table experiment system is built and various experiments are performed. The experimental results indicate that the developed system with the proposed hybrid control strategy is feasible and efficient and can reduce the tracking errors to 25% and synchronization error to 16% compared with traditional control schemes.

Knowledge-based Adaptive Tracking Control of Electro-hydraulic Actuator Systems

DEFF Research Database (Denmark)

Hansen, Poul Erik

1997-01-01

The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF.......The paper deal with intelligent motion control and electro-hydraulic actuator systems for multiaxis machynes and robots.The research results are from the IMCIA research Programme supported by the Danish Technical Research Council, STVF....

Effect of confining pressure on permeability behavior of Beishan granite

International Nuclear Information System (INIS)

Ma Like; Li Yunfeng; Zhao Xingguang; Tan Guohuan

2012-01-01

By using of the Electro-Hydraulic Servo-controlled Rock Mechanics Testing System (MTS 815.04) in the University of Hong Kong, a series of permeability tests were performed on specimens of Beishan granite at different confining pressures. The result indicates that: (1) there is a decrease of permeability due to progressive closure of initial microcracks and the corresponding volumetric strain is compressive when the confining pressures increase from 2.5 MPa to 15 MPa, (2) when the confining pressures decrease from 15 MPa to 2.5 MPa, there is an increase of permeability in this stage in relation with the volumetric dilation. (authors)

Pressure control valve using proportional electro-magnetic solenoid actuator

International Nuclear Information System (INIS)

Yun, So Nam; Ham, Young Bog; Park, Pyoung Won

2006-01-01

This paper presents an experimental characteristics of electro-hydraulic proportional pressure control valve. In this study, poppet and valve body which are assembled into the proportional solenoid were designed and manufactured. The constant force characteristics of proportional solenoid actuator in the control region should be independent of the plunger position in order to be used to control the valve position in the fluid flow control system. The stroke-force characteristics of the proportional solenoid actuator is determined by the shape (or parameters) of the control cone. In this paper, steady state and transient characteristics of the solenoid actuator for electro-hydraulic proportional valve are analyzed using finite element method and it is confirmed that the proportional solenoid actuator has a constant attraction force in the control region independently on the stroke position. The effects of the parameters such as control cone length, thickness and taper length are also discussed

Technology and control for hydraulic manipulators

International Nuclear Information System (INIS)

Measson, Y.; David, O.; Louveau, F.; Friconneau, J.P.

2003-01-01

Hydraulic manipulators are candidate for fusion reactor maintenance. Their main advantages are their large payload with respect to volume and mass, their reliability and their robustness. However, due to their force control limitations, they are disqualified for precise manipulation and are dangerous for the environment and themselves in case of unexpected collision. CEA, in collaboration with CYBERNETIX and IFREMER has developed the advanced hydraulic robot MAESTRO. Force and hybrid control has been developed in order to avoid the previous problems. Using 'pressure' control servo-valve instead of the standard 'flow' control servo-valve (standard configuration of the MAESTRO) makes a real simplification of the control loop. No more pressure sensors are needed for monitoring the hydraulic joint in force control mode and using this kind of valves makes big safety improvements. The French company IN-LHC, designed and manufactured a prototype of servo-valve that fits the performances and space constraints of the Maestro arm. A characterisation of this new product was made on a mock-up and a set of these prototypes integrated in the Maestro slave-arm. A comparison between the two actuating technologies was made and showed that the performances of the pressure servo-valves make it applicable to general application

Identification and real-time position control of a servo-hydraulic rotary actuator by means of a neurobiologically motivated algorithm.

Science.gov (United States)

Sadeghieh, Ali; Sazgar, Hadi; Goodarzi, Kamyar; Lucas, Caro

2012-01-01

This paper presents a new intelligent approach for adaptive control of a nonlinear dynamic system. A modified version of the brain emotional learning based intelligent controller (BELBIC), a bio-inspired algorithm based upon a computational model of emotional learning which occurs in the amygdala, is utilized for position controlling a real laboratorial rotary electro-hydraulic servo (EHS) system. EHS systems are known to be nonlinear and non-smooth due to many factors such as leakage, friction, hysteresis, null shift, saturation, dead zone, and especially fluid flow expression through the servo valve. The large value of these factors can easily influence the control performance in the presence of a poor design. In this paper, a mathematical model of the EHS system is derived, and then the parameters of the model are identified using the recursive least squares method. In the next step, a BELBIC is designed based on this dynamic model and utilized to control the real laboratorial EHS system. To prove the effectiveness of the modified BELBIC's online learning ability in reducing the overall tracking error, results have been compared to those obtained from an optimal PID controller, an auto-tuned fuzzy PI controller (ATFPIC), and a neural network predictive controller (NNPC) under similar circumstances. The results demonstrate not only excellent improvement in control action, but also less energy consumption. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

Design of a Novel Electro-hydraulic Drive Downhole Tractor

Science.gov (United States)

Fang, Delei; Shang, Jianzhong; Yang, Junhong; Wang, Zhuo; Wu, Wei

2018-02-01

In order to improve the traction ability and the work efficiency of downhole tractor in oil field, a novel electro-hydraulic drive downhole tractor was designed. The tractor’s supporting mechanism and moving mechanism were analyzed based on the tractor mechanical structure. Through the introduction of hydraulic system, the hydraulic drive mechanism and the implementation process were researched. Based on software, analysis of tractor hydraulic drive characteristic and movement performance were simulated, which provide theoretical basis for the development of tractor prototype.

A new linearized equation for servo valve in hydraulic control systems

International Nuclear Information System (INIS)

Kim, Tae Hyung; Lee, Ill Yeong

2002-01-01

In the procedure of the hydraulic control system analysis, a linearized approximate equation described by the first order term of Taylor's series has been widely used. Such a linearized equation is effective just near the operating point. And, as of now, there are no general standards on how to determine the operating point of a servo valve in the process of applying the linearized equation. So, in this study, a new linearized equation for valve characteristics is proposed as a modified form of the existing linearized equation. And, a method for selecting an optimal operating point is proposed for the new linearized equation. The effectiveness of the new linearized equation is confirmed through numerical simulations and experiments for a model hydraulic control system

Servo-elastic dynamics of a hydraulic actuator pitching a blade with large deflections

DEFF Research Database (Denmark)

Hansen, Morten Hartvig; Kallesøe, Bjarne Skovmose

2007-01-01

This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping...... if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based...

Nonlinear dynamic modeling for smart material electro-hydraulic actuator development

Science.gov (United States)

Larson, John P.; Dapino, Marcelo J.

2013-03-01

Smart material electro-hydraulic actuators use hydraulic rectification by one-way check valves to amplify the motion of smart materials, such as magnetostrictives and piezoelectrics, in order to create compact, lightweight actuators. A piston pump driven by a smart material is combined with a hydraulic cylinder to form a self-contained, power-by-wire actuator that can be used in place of a conventional hydraulic system without the need for hydraulic lines and a centralized pump. The performance of an experimental actuator driven by a 12.7 mm diameter, 114 mm length Terfenol-D rod is evaluated over a range of applied input frequencies, loads, and currents. The peak performance achieved is 37 W, moving a 220 N load at a rate of 17 cm/s and producing a blocked pressure of 12.5 MPa. Additional tests are conducted to quantify the dynamic behavior of the one-way reed valves using a scanning laser vibrometer to identify the frequency response of the reeds and the effect of the valve seat and fluid mass loading. A lumped-parameter model is developed for the system that includes valve inertia and fluid response nonlinearities, and the model results are compared with the experimental data.

Integration of Flex Nozzle System and Electro Hydraulic Actuators to Solid Rocket Motors

Science.gov (United States)

Nayani, Kishore Nath; Bajaj, Dinesh Kumar

2017-10-01

A rocket motor assembly comprised of solid rocket motor and flex nozzle system. Integration of flex nozzle system and hydraulic actuators to the solid rocket motors are done after transportation to the required place where integration occurred. The flex nozzle system is integrated to the rocket motor in horizontal condition and the electro hydraulic actuators are assembled to the flex nozzle systems. The electro hydraulic actuators are connected to the hydraulic power pack to operate the actuators. The nozzle-motor critical interface are insulation diametrical compression, inhibition resin-28, insulation facial compression, shaft seal `O' ring compression and face seal `O' ring compression.

stepping motor - hydraulic motor servo drives for an nc milling machine

African Journals Online (AJOL)

Dr Obe

stepping motor Drive Assembly especially Designed for CNC systems". 13th Machine Tool Design and. Research. (MTDR) conference,. University of Birmingham, 1972. 2 Ertongur, N.A. "Investigation into the instability in an electro hydraulic control system for machine tools" Ph.D. Thesis, University of. Birmingham, UK. 1966 ...

Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

Directory of Open Access Journals (Sweden)

V. N. Pilgunov

2016-01-01

Full Text Available A compressibility of the actuating fluid of a pneumatic drive (compressed air leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the constant load component at the time of stop and its variation for the holding period, a transfer coefficient of the position component of the load, an active area of the pneumatic cylinder piston, as well as reduction in atmospheric pressure, which can significantly affect the operation of the control systems of small aircrafts flying at high altitudes.To reduce the landing value of piston due to changing value of the constant load component for its holding period, it is proposed to use a hydraulic positioner, which comprises a hydraulic cylinder the rod of which is rigidly connected to the rod of the pneumatic cylinder through the traverse, a cross-feed valve of the hydro-cylinder cavities with discrete electro-magnetic control, and adjustable chokes.A programmable logic controller provides the hydraulic positioner control. At the moment the piston stops and the load is held the cross-feed valve overlaps the hydro-cylinder cavities thereby locking the pneumatic cylinder piston and preventing its landing. With available pneumatic cylinder-controlled signal the cross-feed valve connects the piston and rod cavities of the positioner hydro-cylinder, the pneumatic cylinder piston is released and becomes capable of moving.A numerical estimate of landing of the pneumatic cylinder piston and its positioning quality is of essential interest. For this purpose, a technique to calculate the landing of piston has been developed taking into consideration that different

Experimental research of flow servo-valve

Science.gov (United States)

Takosoglu, Jakub

Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

Design and Performance Evaluation of an Electro-Hydraulic Camless Engine Valve Actuator for Future Vehicle Applications.

Science.gov (United States)

Nam, Kanghyun; Cho, Kwanghyun; Park, Sang-Shin; Choi, Seibum B

2017-12-18

This paper details the new design and dynamic simulation of an electro-hydraulic camless engine valve actuator (EH-CEVA) and experimental verification with lift position sensors. In general, camless engine technologies have been known for improving fuel efficiency, enhancing power output, and reducing emissions of internal combustion engines. Electro-hydraulic valve actuators are used to eliminate the camshaft of an existing internal combustion engines and used to control the valve timing and valve duration independently. This paper presents novel electro-hydraulic actuator design, dynamic simulations, and analysis based on design specifications required to satisfy the operation performances. An EH-CEVA has initially been designed and modeled by means of a powerful hydraulic simulation software, AMESim, which is useful for the dynamic simulations and analysis of hydraulic systems. Fundamental functions and performances of the EH-CEVA have been validated through comparisons with experimental results obtained in a prototype test bench.

Modeling and Parameter Identification of the Vibration Characteristics of Armature Assembly in a Torque Motor of Hydraulic Servo Valves under Electromagnetic Excitations

Directory of Open Access Journals (Sweden)

Jinghui Peng

2014-07-01

Full Text Available The resonance of the armature assembly is the main problem leading to the fatigue of the spring pipe in a torque motor of hydraulic servo valves, which can cause the failure of servo valves. To predict the vibration characteristics of the armature assembly, this paper focuses on the mathematical modeling of the vibration characteristics of armature assembly in a hydraulic servo valve and the identification of parameters in the models. To build models more accurately, the effect of the magnetic spring is taken into account. Vibration modal analysis is performed to obtain the mode shapes and natural frequencies, which are necessary to implement the identification of damping ratios in the mathematical models. Based on the mathematical models for the vibration characteristics, the harmonic responses of the armature assembly are analyzed using the finite element method and measured under electromagnetic excitations. The simulation results agree well with the experimental studies.

Decommissioning of hot cells using a hydraulically powered servo manipulator

International Nuclear Information System (INIS)

Asquith, J.D.; Loughborough, D.

1993-01-01

This paper describes the preparations and initial trials involved in remotely dismantling the containment boxes within two concrete shielded hot cells at Harwell Laboratory using a hydraulically powered servo manipulator, ARTISAN. The manipulator deploys a variety of tools for cutting operations. The modular design has enabled it to be specifically configured for this application by adjusting the link lengths using spacers between the joints. In addition to the remote handling requirements, a new posting and ventilation system for the facility is outlined. Trials with ARTISAN in an in-active mock-up have now been successfully completed, and the manipulator is installed in the active facility. The considerations and approach adopted in this project are typical of many situations where remote techniques are required for decommissioning activities. (author)

Renal arteriovenous fistula: A rare complication of electro-hydraulic ...

African Journals Online (AJOL)

A 62-year-old man with type 1 Von Willebrand's disease was electively admitted to a Northern Ireland district general hospital for endoscopic management of a 1 cm right lower pole calculus. After pre-operative administration of appropriate haematological factors, flexible ureteroscopic electro-hydraulic lithotripsy (EHL).

Design of Servo Scheme and Drive Electronics for the Integrated Electrohydraulic Actuation System of RLV-TD

Science.gov (United States)

Kurian, Priya C.; Gopinath, Anish; Shinoy, K. S.; Santhi, P.; Sundaramoorthy, K.; Sebastian, Baby; Jaya, B.; Namboodiripad, M. N.; Mookiah, T.

2017-12-01

Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) is a system which has the ability to carry a payload from the earth's surface to the outer space more than once. The control actuation forms the major component of the control system and it actuates the control surfaces of the RLV-TD based on the control commands. Eight electro hydraulic actuators were used in RLV-TD for vectoring the control surfaces about their axes. A centralised Hydraulic Power Generating Unit (HPU) was used for powering the eight actuators located in two stages. The actuation system had to work for the longest ever duration of about 850 s for an Indian launch vehicle. High bandwidth requirement from autopilot was met by the servo design using the nonlinear mathematical model. Single Control Electronics which drive four electrohydraulic actuators was developed for each stage. High power electronics with soft start scheme was realized for driving the BLDC motor which is the prime mover for hydraulic pump. Many challenges arose due to single HPU for two stages, uncertainty of aero load, higher bandwidth requirements etc. and provisions were incorporated in the design to successfully overcome them. This paper describes the servo design and control electronics architecture of control actuation system.

Experimental research of flow servo-valve

Directory of Open Access Journals (Sweden)

Takosoglu Jakub

2017-01-01

Full Text Available Positional control of pneumatic drives is particularly important in pneumatic systems. Some methods of positioning pneumatic cylinders for changeover and tracking control are known. Choking method is the most development-oriented and has the greatest potential. An optimal and effective method, particularly when applied to pneumatic drives, has been searched for a long time. Sophisticated control systems with algorithms utilizing artificial intelligence methods are designed therefor. In order to design the control algorithm, knowledge about real parameters of servo-valves used in control systems of electro-pneumatic servo-drives is required. The paper presents the experimental research of flow servo-valve.

Motion control of servo cylinder using neural network

International Nuclear Information System (INIS)

Hwang, Un Kyoo; Cho, Seung Ho

2004-01-01

In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The neural network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control

Hydraulic servo control spool valve

Science.gov (United States)

Miller, Donald M.

1983-01-01

A servo operated spool valve having a fixed sleeve and axially movable spool. The sleeve is machined in two halves to form a long, narrow tapered orifice slot across which a transverse wall of the spool is positioned. The axial position of the spool wall along the slot regulates the open orifice area with extreme precision.

Simulation of proportional control of hydraulic actuator using digital hydraulic valves

Science.gov (United States)

Raghuraman, D. R. S.; Senthil Kumar, S.; Kalaiarasan, G.

2017-11-01

Fluid power systems using oil hydraulics in earth moving and construction equipment have been using proportional and servo control valves for a long time to achieve precise and accurate position control backed by system performance. Such valves are having feedback control in them and exhibit good response, sensitivity and fine control of the actuators. Servo valves and proportional valves are possessing less hysteresis when compared to on-off type valves, but when the servo valve spools get stuck in one position, a high frequency called as jitter is employed to bring the spool back, whereas in on-off type valves it requires lesser technology to retract the spool. Hence on-off type valves are used in a technology known as digital valve technology, which caters to precise control on slow moving loads with fast switching times and with good flow and pressure control mimicking the performance of an equivalent “proportional valve” or “servo valve”.

Reduced-order model based active disturbance rejection control of hydraulic servo system with singular value perturbation theory.

Science.gov (United States)

Wang, Chengwen; Quan, Long; Zhang, Shijie; Meng, Hongjun; Lan, Yuan

2017-03-01

Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original double-dynamics coupling model of the hydraulic servomechanism was reduced to a integral chain system. So that, the popular ADRC (active disturbance rejection control) technology could be directly applied to the reduced system. In addition, the high stiffness control and mismatched uncertainties input problems are avoided. The validity of the simplified model is analyzed and proven theoretically. The standard linear ADRC algorithm is then developed based on the obtained reduced-order model. Extensive comparative co-simulations and experiments are carried out to illustrate the effectiveness of the proposed method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Concrete decontamination by Electro-Hydraulic Scabbling (EHS). Topical report

International Nuclear Information System (INIS)

1996-01-01

Electro-Hydraulic Scabbling (EHS) technology and equipment for decontaminating concrete structures from radionuclides, organic substances, and hazardous metals is being developed by Textron Systems Division (TSD). This wet scabbling technique involves the generation of powerful shock waves and intense cavitation by a strong pulsed electric discharge in a water layer at the concrete surface. The high pressure impulse results in stresses which crack and peel off a concrete layer of a controllable thickness. Scabbling produces contaminated debris of relatively small volume which can be easily removed, leaving clean bulk concrete. This new technology is being developed under Contract No. DE-AC21-93MC30164. The project objective is to develop and demonstrate a cost-efficient, rapid, controllable process to remove the surface layer of contaminated concrete while generating minimal secondary waste. The primary target of this program is uranium-contaminated concrete floors which constitute a substantial part of the contaminated area at DOE weapon facilities

System Design and Performance Test of Hydraulic Intensifier

Energy Technology Data Exchange (ETDEWEB)

Kim, Hyoung Eui; Lee, Gi Chun [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of); Kim, Jae Hoon [Chungnam National University, Daejeon (Korea, Republic of)

2010-07-15

Components such as pressure vessel, hydraulic hose assembly, accumulator, hydraulic cylinder, hydraulic valve, pipe, etc., are tested under the impulse-pressure conditions prescribed in ISO and SAE standards. The impulse pressure test machine needs to have a high pressure, a precise control system and a long life. It should satisfy the requirements for fabrication of the impulse tester to generate ultra high pressure in the hydraulic system. In the impulse tester, a servo-valve control system is adopted; although the control application is convenient, it is expensive owing to the cost of developing the system. The type of the control system determines the pressure wave, which affects the components that are tested. In this study, the manufacturing process and the intensifier system design related to the flow, pressure, and the increasing rate of pressure are investigated. The results indicate the ultra high pressure waves in the system.

System Topology Optimization - An Approach to System Design of Electro-Hydraulic-Mechanical Systems

DEFF Research Database (Denmark)

Andersen, T. O.; Hansen, M. R.; Conrad, Finn

2003-01-01

The current paper presents an approach to system design of combined electro-hydraulic-mechanical systems. The approach is based on the concurrent handling of the topology as well as the design parameters of the mechanical, hydraulic and controller sub- systems, respectively. Based on an initial...... design the procedure attempts to find the optimal topology and the related parameters. The topology considerations comprise the type of hydraulic pump, the employment of knee linkages or not as well as the type of hydraulic actuators. The design variables also include the signals to the proportional...... valve in a number of predefined load cases as well as the hydraulic and mechanical parameters....

Concrete decontamination by electro-hydraulic scabbling

Energy Technology Data Exchange (ETDEWEB)

Goldfarb, V.; Gannon, R. [Textron Defense System, Everett, MA (United States)

1995-10-01

Textron Defense Systems (TDS) is developing an electro-hydraulic device that has the potential for faster, safer, and less expensive scabbling of contaminated concrete surfaces. In the device, shock waves and cavitating bubbles are produced in water by the electric pulses, and the direct and reflected shock waves impinging on the concrete surface result in the crushing and cracking of the concrete. Pulse energy, frequency, and traverse speed control the depth of the scabbling action. Performance thus far has demonstrated the capability of a prototype unit to process a swath 24 inches wide, up to 3/4 inch deep at a linear velocity of up to 6 feet per hour, i.e., at a scabbling rate of 12 sq. ft. per hour.

Concrete decontamination by electro-hydraulic scabbling

International Nuclear Information System (INIS)

Goldfarb, V.; Gannon, R.

1995-01-01

Textron Defense Systems (TDS) is developing an electro-hydraulic device that has the potential for faster, safer, and less expensive scabbling of contaminated concrete surfaces. In the device, shock waves and cavitating bubbles are produced in water by the electric pulses, and the direct and reflected shock waves impinging on the concrete surface result in the crushing and cracking of the concrete. Pulse energy, frequency, and traverse speed control the depth of the scabbling action. Performance thus far has demonstrated the capability of a prototype unit to process a swath 24 inches wide, up to 3/4 inches deep at a linear velocity of up to 6 feet per hour, i.e., at a scabbling rate of 12 sq. ft. per hour

Output Feedback Control of Electro-Hydraulic Cylinder Drives using the Twisting Algorithm

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2014-01-01

contributions in literature. This paper considers the twisting algorithm when applied directly for output feedback control, and with the design based on a reduced order model representation of an arbitrary valve driven hydraulic cylinder drive. The consequence of implementing such a controller with the well......This paper discusses the utilization of the so-called twisting algorithm when applied in output feedback position control schemes for electro-hydraulic cylinder drives. The twisting controller was the first second order sliding controller ever introduced, and can structure-wise be considered...... feedback controller may be successfully applied to hydraulic valve driven cylinder drives, with performance being on the level with a conventional surface based first order sliding mode controller....

Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators

Science.gov (United States)

Vu, Van Tan; Sename, Olivier; Dugard, Luc; Gaspar, Peter

2017-09-01

Rollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. The roll stability loss is the main cause of rollover accidents in which heavy vehicles are involved. In order to improve the roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. However these may be not sufficient to overcome critical situations. This paper introduces the active anti-roll bars made of four electronic servo-valve hydraulic actuators, which are modelled and integrated in a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output is the force generated by the hydraulic actuator. The active control design is achieved solving a linear optimal control problem based on the linear quadratic regulator (LQR) approach. A comparison of several LQR controllers is provided to allow for tackling the considered multi-objective problems. Simulation results in frequency and time domains show that the use of two active anti-roll bars (front and rear axles) drastically improves the roll stability of the single unit heavy vehicle compared with the passive anti-roll bar.

Asymmetric Fuzzy Control of a Positive and Negative Pneumatic Pressure Servo System

Science.gov (United States)

Yang, Gang; Du, Jing-Min; Fu, Xiao-Yun; Li, Bao-Ren

2017-11-01

The pneumatic pressure control systems have been used in some fields. However, the researches on pneumatic pressure control mainly focus on constant pressure regulation. Poor dynamic characteristics and strong nonlinearity of such systems limit its application in the field of pressure tracking control. In order to meet the demand of generating dynamic pressure signal in the application of the hardware-in-the-loop simulation of aerospace engineering, a positive and negative pneumatic pressure servo system is provided to implement dynamic adjustment of sealed chamber pressure. A mathematical model is established with simulation and experiment being implemented afterwards to discuss the characteristics of the system, which shows serious asymmetry in the process of charging and discharging. Based on the analysis of the system dynamics, a fuzzy proportional integral derivative (PID) controller with asymmetric fuzzy compensator is proposed. Different from conventional adjusting mechanisms employing the error and change in error of the controlled variable as input parameters, the current chamber pressure and charging or discharging state are chosen as inputs of the compensator, which improves adaptability. To verify the effectiveness and performance of the proposed controller, the comparison experiments tracking sinusoidal and square wave commands are conducted. Experimental results show that the proposed controller can obtain better dynamic performance and relatively consistent control performance across the scope of work (2-140 kPa). The research proposes a fuzzy control method to overcome asymmetry and enhance adaptability for the positive and negative pneumatic pressure servo system.

Disturbance torque rejection properties of the NASA/JPL 70-meter antenna axis servos

Science.gov (United States)

Hill, R. E.

1989-01-01

Analytic methods for evaluating pointing errors caused by external disturbance torques are developed and applied to determine the effects of representative values of wind and friction torque. The expressions relating pointing errors to disturbance torques are shown to be strongly dependent upon the state estimator parameters, as well as upon the state feedback gain and the flow versus pressure characteristics of the hydraulic system. Under certain conditions, when control is derived from an uncorrected estimate of integral position error, the desired type 2 servo properties are not realized and finite steady-state position errors result. Methods for reducing these errors to negligible proportions through the proper selection of control gain and estimator correction parameters are demonstrated. The steady-state error produced by a disturbance torque is found to be directly proportional to the hydraulic internal leakage. This property can be exploited to provide a convenient method of determining system leakage from field measurements of estimator error, axis rate, and hydraulic differential pressure.

Hydraulic System Design of Hydraulic Actuators for Large Butterfly Valves

Directory of Open Access Journals (Sweden)

Ye HUANG

2014-09-01

Full Text Available Hydraulic control systems of butterfly valves are presently valve-controlled and pump-controlled. Valve-controlled hydraulic systems have serious power loss and generate much heat during throttling. Pump-controlled hydraulic systems have no overflow or throttling losses but are limited in the speed adjustment of the variable-displacement pump, generate much noise, pollute the environment, and have motor power that does not match load requirements, resulting in low efficiency under light loads and wearing of the variable-displacement pump. To overcome these shortcomings, this article designs a closed hydraulic control system in which an AC servo motor drives a quantitative pump that controls a spiral swinging hydraulic cylinder, and analyzes and calculates the structure and parameters of a spiral swinging hydraulic cylinder. The hydraulic system adjusts the servo motor’s speed according to the requirements of the control system, and the motor power matches the power provided to components, thus eliminating the throttling loss of hydraulic circuits. The system is compact, produces a large output force, provides stable transmission, has a quick response, and is suitable as a hydraulic control system of a large butterfly valve.

Servo-Elastic Dynamics of a Hydraulic Actuator Pitching a Blade with Large Deflections

International Nuclear Information System (INIS)

Hansen, M H; Kallesoee, B S

2007-01-01

This paper deals with the servo-elastic dynamics of a hydraulic pitch actuator acting on a largely bend wind turbine blade. The compressibility of the oil and flexibility of the hoses introduce a dynamic mode in the pitch bearing degree of freedom. This mode may obtain negative damping if the proportional gain on the actuator position error is defined too large relative to the viscous forces in the hydraulic system and the total rotational inertia of the pitch bearing degree of freedom. A simple expression for the stability limit of this proportional gain is derived for tuning the gain based on the Ziegler-Nichols method. Computed transfer functions from reference to actual pitch angles indicate that the actuator can be approximated as a low-pass filter with some appropriate limitations on pitching speed and acceleration. The structural blade model includes the geometrical coupling of edgewise bending and torsion for large flapwise deflections. This coupling is shown to introduce edgewise bending response for pitch reference oscillations around the natural frequency of the edgewise bending mode, in which frequency range the transfer function from reference to actual pitch angle cannot be modeled as a simple low-pass filter. The pitch bearing is assumed to be frictionless as a first approximation

Hydraulic Actuators with Autonomous Hydraulic Supply for the Mainline Aircrafts

Directory of Open Access Journals (Sweden)

I. S. Shumilov

2014-01-01

Full Text Available Applied in the aircraft control systems, hydraulic servo actuators with autonomous hydraulic supply, so-called, hydraulic actuators of integrated configuration, i.e. combination of a source of hydraulic power and its load in the single unit, are aimed at increasing control system reliability both owing to elimination of the pipelines connecting the actuator to the hydraulic supply source, and owing to avoidance of influence of other loads failure on the actuator operability. Their purpose is also to raise control system survivability by eliminating the long pipeline communications and their replacing for the electro-conductive power supply system, thus reducing the vulnerability of systems. The main reason for a delayed application of the hydraulic actuators in the cutting-edge aircrafts was that such aircrafts require hydraulic actuators of considerably higher power with considerable heat releases, which caused an unacceptable overheat of the hydraulic actuators. Positive and negative sides of the hydraulic actuators, their alternative options of increased reliability and survivability, local hydraulic systems as an advanced alternative to independent hydraulic actuators are considered.Now to use hydraulic actuators in mainline aircrafts is inexpedient since there are the unfairly large number of the problems reducing, first and last, safety of flights, with no essential weight and operational advantages. Still works to create competitive hydraulic actuators ought to be continued.Application of local hydraulic systems (LHS will allow us to reduce length of pressure head and drain pipelines and mass of pipelines, as well as to raise their general fail-safety and survivability. Application of the LHS principle will allow us to use a majority of steering drive advantages. It is necessary to allocate especially the following:- ease of meeting requirements for the non-local spread of the engine weight;- essentially reducing length and weight of

Investigation of the ElectroPuls E3000 Test Machine for Fatigue Testing of Structural Materials

Science.gov (United States)

2016-12-01

potential to use high frequencies to reduce test time significantly (at, for example, four times the maximum frequency possible on a servo- hydraulic ...crack growth rate data (at a frequency of 10 Hz) that was consistent with previous testing performed on servo- hydraulic testing machines (at a frequency...operate at frequencies "over 100 Hz" and has the potential to increase efficiency by decreasing test time, as compared with a servo- hydraulic test machine

Forming of AHSS using Servo-Presses

Science.gov (United States)

Groseclose, Adam Richard

Stamping of Advanced High Strength Steel (AHSS) alloys poses several challenges due to the material's higher strength and low formability compared to conventional steels and other problems such as (a) inconsistency of incoming material properties, (b) ductile fracture during forming, (c) higher contact pressure and temperature rise during forming, (d) higher die wear leading to reduced tool life, (e) higher forming load/press capacity, and (f) large springback leading to dimensional inaccuracy in the formed part. [Palaniswamy et. al., 2007]. The use of AHSS has been increasing steadily in automotive stamping. New AHSS alloys (TRIP, TWIP) may replace some of the Hot Stamping applications. Stamping of AHSS alloys, especially higher strength materials, 780 MPa and higher, present new challenges in obtaining good part definition (corner and fillet radii), formability (fracture and resulting scrap) and in reducing springback. Servo-drive presses, having the capability to have infinitely variable and adjustable ram speed and dwell at BDC, offer a potential improvement in quality, part definition, and springback reduction especially when the infinitely adjustable slide motion is used in combination with a CNC hydraulic cushion. Thus, it is desirable to establish a scientific/engineering basis for improving the stamping conditions in forming AHSS using a servo-drive press.

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control

Directory of Open Access Journals (Sweden)

Victor Barasuol

2018-06-01

Full Text Available Hydraulic actuation is the most widely used alternative to electric motors for legged robots and manipulators. It is often selected for its high power density, robustness and high-bandwidth control performance that allows the implementation of force/impedance control. Force control is crucial for robots that are in contact with the environment, since it enables the implementation of active impedance and whole body control that can lead to a better performance in known and unknown environments. This paper presents the hydraulic Integrated Smart Actuator (ISA developed by Moog in collaboration with IIT, as well as smart manifolds for rotary hydraulic actuators. The ISA consists of an additive-manufactured body containing a hydraulic cylinder, servo valve, pressure/position/load/temperature sensing, overload protection and electronics for control and communication. The ISA v2 and ISA v5 have been specifically designed to fit into the legs of IIT’s hydraulic quadruped robots HyQ and HyQ-REAL, respectively. The key features of these components tackle 3 of today’s main challenges of hydraulic actuation for legged robots through: (1 built-in controllers running inside integrated electronics for high-performance control, (2 low-leakage servo valves for reduced energy losses, and (3 compactness thanks to metal additive manufacturing. The main contributions of this paper are the derivation of the representative dynamic models of these highly integrated hydraulic servo actuators, a control architecture that allows for high-bandwidth force control and their experimental validation with application-specific trajectories and tests. We believe that this is the first work that presents additive-manufactured, highly integrated hydraulic smart actuators for robotics.

Dynamic Characteristics of Communication Lines with Distributed Parameters to Control the Throttle-controlled Hydraulic Actuators

Directory of Open Access Journals (Sweden)

D. N. Popov

2015-01-01

Full Text Available The article considers a mathematical model of the hydraulic line for remote control of electro-hydraulic servo drive (EHSD with throttle control. This type of hydraulic lines is designed as a backup to replace the electrical connections, which are used to control EHSD being remote from the site with devices located to form the control signals of any object. A disadvantage of electric connections is that they are sensitive to magnetic fields and thereby do not provide the required reliability of the remote control. Hydraulic lines have no this disadvantage and therefore are used in aircraft and other industrial systems. However, dynamic characteristics of hydraulic systems still have been investigated insufficiently in the case of transmitting control signals at a distance at which the signal may be distorted when emerging the wave processes.The article results of mathematical simulation, which are verified through physical experimentation, largely eliminate the shortcomings of said information.The mathematical model described in the paper is based on the theory of unsteady pressure compressible fluids. In the model there are formulas that provide calculation of frequency characteristics of the hydraulic lines under hydraulic oscillations of the laminar flow parameters of viscous fluid.A real mock-up of the system under consideration and an experimental ad hoc unit are used to verify the results of mathematically simulated hydraulic systems.Calculated logarithmic amplitude and phase frequency characteristics compared with those obtained experimentally prove, under certain conditions, the proposed theoretical method of calculation. These conditions have to ensure compliance with initial parameters of fluid defined under stationary conditions. The applied theory takes into consideration a non-stationary hydraulic resistance of the line when calculating frequency characteristics.The scientific novelty in the article material is presented in

Model-based servo hydraulic control of a continuously variable transmission

NARCIS (Netherlands)

Cools, S.J.M.; Veenhuizen, P.A.; Pauwelussen, J.P.

2004-01-01

In order to reduce the power consumption of a transmission, maximum tracking accuracy should be achieved of both ratio and pressures in the variator. A control strategy is proposed to steer a variator, actuated with a newly developed hydraulic system, of a Continuously Variable Transmission (CVT).

Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

DEFF Research Database (Denmark)

Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

2005-01-01

This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...

Control rod driving hydraulic pressure device

International Nuclear Information System (INIS)

Ishida, Kazuo.

1990-01-01

Discharged water after actuating control rod drives in a BWR type reactor is once discharged to a discharging header, then returned to a master control unit and, subsequently, discharged to a reactor by way of a cooling water header. The radioactive level in the discharging header and the master control unit is increased by the reactor water to increase the operator's exposure. In view of the above, a riser is disposed for connecting a hydraulic pressure control unit incorporating a directional control valve and the cooling water head. When a certain control rod is inserted, the pressurized driving water is supplied through a hydraulic pressure control unit to the control rod drives. The discharged water from the control rod drives is entered by way of the hydraulic pressure control unit into the cooling water header and then returned to the reactor by way of other hydraulic pressure control unit and the control rod drives. Thus, the reactor water is no more recycled to the master control unit to reduce the radioactive exposure. (N.H.)

Role of pressure in angiotensin II-induced renal injury: chronic servo-control of renal perfusion pressure in rats.

Science.gov (United States)

Mori, Takefumi; Cowley, Allen W

2004-04-01

Renal perfusion pressure was servo-controlled chronically in rats to quantify the relative contribution of elevated arterial pressure versus angiotensin II (Ang II) on the induction of renal injury in Ang II-induced hypertension. Sprague-Dawley rats fed a 4% salt diet were administered Ang II for 14 days (25 ng/kg per minute IV; saline only for sham rats), and the renal perfusion pressure to the left kidney was continuously servo-controlled to maintain a normal pressure in that kidney throughout the period of hypertension. An aortic occluder was implanted around the aorta between the two renal arteries and carotid and femoral arterial pressure were measured continuously throughout the experiment to determine uncontrolled and controlled renal perfusion pressure, respectively. Renal perfusion pressure of uncontrolled, controlled, and sham kidneys over the period of Ang II or saline infusion averaged 152.6+/-7.0, 117.4+/-3.5, and 110.7+/-2.2 mm Hg, respectively. The high-pressure uncontrolled kidneys exhibited tubular necrosis and interstitial fibrosis, especially prominent in the outer medullary region. Regional glomerular sclerosis and interlobular artery injury were also pronounced. Controlled kidneys were significantly protected from interlobular artery injury, juxtamedullary glomeruli injury, tubular necrosis, and interstitial fibrosis as determined by comparing the level of injury. Glomerular injury was not prevented in the outer cortex. Transforming growth factor (TGF)-beta and active NF-kappaB proteins determined by immunohistochemistry were colocalized in the uncontrolled kidney in regions of interstitial fibrosis. We conclude that the preferential juxtamedullary injury found in Ang II hypertension is largely induced by pressure and is probably mediated through the TGF-beta and NF-kappaB pathway.

Servo-controlled pneumatic pressure oscillator for respiratory impedance measurements and high-frequency ventilation.

Science.gov (United States)

Kaczka, David W; Lutchen, Kenneth R

2004-04-01

The ability to provide forced oscillatory excitation of the respiratory system can be useful in mechanical impedance measurements as well as high frequency ventilation (HFV). Experimental systems currently used for generating forced oscillations are limited in their ability to provide high amplitude flows or maintain the respiratory system at a constant mean pressure during excitation. This paper presents the design and implementation of a pneumatic pressure oscillator based on a proportional solenoid valve. The device is capable of providing forced oscillatory excitations to the respiratory system over a bandwidth suitable for mechanical impedance measurements and HVF. It delivers high amplitude flows (> 1.4 l/s) and utilizes a servo-control mechanism to maintain a load at a fixed mean pressure during simultaneous oscillation. Under open-loop conditions, the device exhibited a static hysteresis of approximately 7%, while its dynamic magnitude and phase responses were flat out to 10 Hz. Broad-band measurement of total harmonic distortion was approximately 19%. Under closed-loop conditions, the oscillator was able to maintain a mechanical test load at both positive and negative mean pressures during oscillatory excitations from 0.1 to 10.0 Hz. Impedance of the test load agreed closely with theoretical predictions. We conclude that this servo-controlled oscillator can be a useful tool for respiratory impedance measurements as well as HFV.

Control issues for a hydraulically powered dissimilar teleoperated system

International Nuclear Information System (INIS)

Jansen, J.F.; Kress, R.L.

1995-01-01

This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling's Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

Energy harvesting from hydraulic pressure fluctuations

International Nuclear Information System (INIS)

Cunefare, K A; Skow, E A; Erturk, A; Savor, J; Verma, N; Cacan, M R

2013-01-01

State-of-the-art hydraulic hose and piping systems employ integral sensor nodes for structural health monitoring to avoid catastrophic failures. Energy harvesting in hydraulic systems could enable self-powered wireless sensor nodes for applications such as energy-autonomous structural health monitoring and prognosis. Hydraulic systems inherently have a high energy intensity associated with the mean pressure and flow. Accompanying the mean pressure is the dynamic pressure ripple, which is caused by the action of pumps and actuators. Pressure ripple is a deterministic source with a periodic time-domain behavior conducive to energy harvesting. An energy harvester prototype was designed for generating low-power electricity from pressure ripples. The prototype employed an axially-poled off-the-shelf piezoelectric stack. A housing isolated the stack from the hydraulic fluid while maintaining a mechanical coupling allowing for dynamic-pressure-induced deflection of the stack. The prototype exhibited an off-resonance energy harvesting problem since the fundamental resonance of the piezoelectric stack was much higher than the frequency content of the pressure ripple. The prototype was designed to provide a suitable power output for powering sensors with a maximum output of 1.2 mW. This work also presents electromechanical model simulations and experimental characterization of the piezoelectric power output from the pressure ripple in terms of the force transmitted into the harvester. (paper)

FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC

DEFF Research Database (Denmark)

Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik C.

2005-01-01

is on developing and applying several different feedback linearisation (FL) controllers to the individual servo actuators in a hydraulically driven servo robot to evaluate and compare their possiblities and limitations. This is done based on both simulation and experimental results.......Generally most hydraulic systems are intrensically non-linear, why applying linear control techniques typically results in conservatively dimensioned controllers to obtain stable performance. Non-linear control techniques have the potential of overcoming these problems, and in this paper the focus...

A versatile hydraulically operated respiratory servo system for ventilation and lung function testing.

Science.gov (United States)

Meyer, M; Slama, H

1983-09-01

A description is given of the design and performance of a microcomputer-controlled respiratory servo system that incorporates the characteristics of a mechanical ventilator and also allows the performance of a multitude of test procedures required for assessment of pulmonary function in paralyzed animals. The device consists of a hydraulically operated cylinder-piston assembly and solenoid valves that direct inspiratory and expiratory gas flow and also enable switching to different test gas sources. The system operates as a volume-flow-preset ventilator but may be switched to other operational cycling modes. Gas flow rates may be constant or variable. The system operates as an assister-controller and, combined with a gas analyzer, can function as a "demand" ventilator allowing for set-point control of end-tidal PCO2 and PO2. Complex breathing maneuvers for a variety of single- and multiple-breath lung function tests are automatically performed. Because of the flexibility in selection and timing of respiratory parameters, the system is particularly suitable for respiratory gas studies.

Nonlinear stability research on the hydraulic system of double-side rolling shear

Science.gov (United States)

Wang, Jun; Huang, Qingxue; An, Gaocheng; Qi, Qisong; Sun, Binyu

2015-10-01

This paper researches the stability of the nonlinear system taking the hydraulic system of double-side rolling shear as an example. The hydraulic system of double-side rolling shear uses unsymmetrical electro-hydraulic proportional servo valve to control the cylinder with single piston rod, which can make best use of the space and reduce reversing shock. It is a typical nonlinear structure. The nonlinear state-space equations of the unsymmetrical valve controlling cylinder system are built first, and the second Lyapunov method is used to evaluate its stability. Second, the software AMEsim is applied to simulate the nonlinear system, and the results indicate that the system is stable. At last, the experimental results show that the system unsymmetrical valve controlling the cylinder with single piston rod is stable and conforms to what is deduced by theoretical analysis and simulation. The construction and application of Lyapunov function not only provide the theoretical basis for using of unsymmetrical valve controlling cylinder with single piston rod but also develop a new thought for nonlinear stability evaluation.

A Design to Digitalize Hydraulic Cylinder Control of a Machine Tool ...

African Journals Online (AJOL)

Conventionally hydraulic piston - cylinder servos are actuated using analogue controls for machine tool axis drives. In this paper a design of the axis control system of an NC milling machine which employs a small stepping motor to digitally actuated hydraulic piston - cylinder servo drives existing on the machines Y-axis is ...

Development of a water hydraulic servovalve; Suiatsu servo ben no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Urata, E.; Nakao, Y. [Kanagawa University, Kanagawa (Japan). Faculty of Engineering; Yamashina, C.; Miyagawa, S.; Usami, Y.; Shinoda, M. [Ebara Research Co. Ltd., Kanagawa (Japan)

1997-06-25

An electrohydraulic servovalve that uses clear water as a pressure medium (water hydraulic servovalve) is developed. A conventional electrohydraulic servovalve cannot work with this hostile fluid. This paper explains the structure and functions of components, and the relationship between them, as well as development procedure of the water hydraulic servovalve. The basic idea for the development is to support the spool of the valve with hydrostatic bearings and to lead the water from the bearings to the flapper-nozzle system, which, in this valve contains a laminar restriction upstream from the nozzle instead of the turbulent restriction in the conventional flapper-nozzle system. This paper also explains the design procedure of the hydrostatic bearing in the valve and the connection of electromagnetic elements and the fluidic elements. The manufactured water hydraulic servovalves show good characteristics in their smooth motion, endurance and controllability, including dynamic characteristics. 25 refs., 12 figs.

Degradation modeling and experiment of electro-hydraulic shift valve in contamination circumstances

Directory of Open Access Journals (Sweden)

Yong Liu

2015-05-01

Full Text Available In this article, a degradation assessment model has been proposed for electro-hydraulic shift valve in power-shift steering transmission. Our work is motivated by the failure mechanism of abrasive wear with a mathematic model. Abrasive wear will consecutively enlarge the clearance between the friction pairs. It is an overwhelming wear mechanism in the degradation of shift valve within serious contaminated fluid. Herein, a mathematic model is proposed by considering particle morphology and abrasion theory. Such model has been verified for its applicability and accuracy through comparison between the theoretical and experimental results.

Computer Simulation of Hydraulic Systems with Typical Nonlinear Characteristics

Directory of Open Access Journals (Sweden)

D. N. Popov

2017-01-01

Full Text Available The task was to synthesise an adjustable hydraulic system structure, the mathematical model of which takes into account its inherent nonlinearity. Its solution suggests using a successive computer simulations starting with a structure of the linearized stable hydraulic system, which is then complicated by including the essentially non-linear elements. The hydraulic system thus obtained may be unable to meet the Lyapunov stability criterion and be unstable. This can be eliminated through correcting elements. Control of correction results is provided according to the form of transition processes due to stepwise variation of the control signal.Computer simulation of a throttle-controlled electrohydraulic servo drive with the rotary output element illustrates the proposed method application. A constant pressure power source provides fluid feed for the drive under pressure.For drive simulation the following models were involved: the linear model, the model taking into consideration a non-linearity of the flow-dynamic characteristics of a spool-type valve, and the non-linear models that take into account the dry friction in the spool-type valve, the backlash in the steering angle sensor of the motor shaft.The paper shows possibility of damping oscillation caused by variable hydrodynamic forces through introducing a correction device.The list of references attached contains 16 sources, which were used to justify and explain certain factors of the automatic control theory and the fluid mechanics of unsteady flows.The article presents 6 block-diagrams of the electrohydraulic servo drive and their appropriate transition processes, which have been studied.

Bi-level positive pressure ventilation and adaptive servo ventilation in patients with heart failure and Cheyne-Stokes respiration.

Science.gov (United States)

Fietze, Ingo; Blau, Alexander; Glos, Martin; Theres, Heinz; Baumann, Gert; Penzel, Thomas

2008-08-01

Nocturnal positive pressure ventilation (PPV) has been shown to be effective in patients with impaired left ventricular ejection fraction (LVEF) and Cheyne-Stokes respiration (CSR). We investigated the effect of a bi-level PPV and adaptive servo ventilation on LVEF, CSR, and quantitative sleep quality. Thirty-seven patients (New York heart association [NYHA] II-III) with LVEFCSR were investigated by electrocardiography (ECG), echocardiography and polysomnography. The CSR index (CSRI) was 32.3+/-16.2/h. Patients were randomly treated with bi-level PPV using the standard spontaneous/timed (S/T) mode or with adaptive servo ventilation mode (AutoSetCS). After 6 weeks, 30 patients underwent control investigations with ECG, echocardiography, and polysomnography. The CSRI decreased significantly to 13.6+/-13.4/h. LVEF increased significantly after 6 weeks of ventilation (from 25.1+/-8.5 to 28.8+/-9.8%, plevel PPV and adaptive servo ventilation: the CSRI decreased more in the AutoSetCS group while the LVEF increased more in the bi-level PPV group. Administration of PPV can successfully attenuate CSA. Reduced CSA may be associated with improved LVEF; however, this may depend on the mode of PPV. Changed LVEF is evident even in the absence of significant changes in blood pressure.

Development of hydraulic conductivity evaluation of rocks using EK (Electro Kinetic) phenomenon (Part 2). Experimental study on hydraulic conductivity evaluation by propagation velocity of EK potential

International Nuclear Information System (INIS)

Kubota, Kenji; Suzuki, Koichi

2012-01-01

Hydraulic conductivity is one of the most important engineering properties to investigate geological structure for high level radioactive waste (HLW) disposal and/or carbon dioxide (CO 2 ) geological storage. We are developing an estimation method of hydraulic conductivity by geophysical methods cost-effectively. When an elastic wave is propagated into rocks, a weak potential is generated. This is called EK (Electro Kinetic) potential, which may have a correlation with hydraulic conductivity. Hydraulic conductivity can be estimated by measuring the propagation velocity of the EK potential. We conducted laboratory measurements of propagation velocity of EK potential by using soil and rock samples. The results demonstrated that the velocity of EK potential increased as frequency increased, and the velocity increased as hydraulic conductivity of each sample increased at the same frequency condition. These tendencies corresponded to a theory of EK potential. We calculated hydraulic conductivity by comparing measured and theoretical velocity of the EK potential based on its frequency characteristics. The differences between calculated and sample hydraulic conductivity were under one order when hydraulic conductivity of the sample was from 10 -6 m/s to 10 -4 m/s. This suggests that hydraulic conductivity from 10 -6 m/s to 10 -4 m/s can be estimated by velocity of the EK potential. (author)

Experience with a servo-hydraulic mechanical testing machine installed in a new shielded active facility at Windscale Nuclear Power Development Laboratories

International Nuclear Information System (INIS)

Garlick, A.; Hindmarch, P.; Gravenor, J.G.; Rhodes, D.

1982-03-01

An Instron model 1273 servo-hydraulic machine has been installed within a lead-shielded cell at Windscale in order to provide a facility capable of performing a wide range of mechanical tests on nuclear reactor structural materials and fuel assembly components. This particular type of machine was chosen because it has design features associated with the load frame, location of the actuator and adjustment and clamping of the cross-head that are especially well suited to remote operation within a shielded cell. The design of the testing facility is described and the programmes of work that have been completed over the past 11/2 years of operation are reviewed. (author)

Hydraulic High Pressure Valve Controller Using the In-Situ Pressure Difference

Science.gov (United States)

Bao, Xiaoqi (Inventor); Sherrit, Stewart (Inventor); Badescu, Mircea (Inventor); Bar-Cohen, Yoseph (Inventor); Hall, Jeffery L. (Inventor)

2016-01-01

A hydraulic valve controller that uses an existing pressure differential as some or all of the power source for valve operation. In a high pressure environment, such as downhole in an oil or gas well, the pressure differential between the inside of a pipe and the outside of the pipe may be adequately large to drive a linear slide valve. The valve is operated hydraulically by a piston in a bore. When a higher pressure is applied to one end of the bore and a lower pressure to the other end, the piston moves in response to the pressure differential and drives a valve attached to it. If the pressure differential is too small to drive the piston at a sufficiently high speed, a pump is provided to generate a larger pressure differential to be applied. The apparatus is conveniently constructed using multiport valves, which can be rotary valves.

Micro Electro-Mechanical System (MEMS) Pressure Sensor for Footwear

Science.gov (United States)

Kholwadwala, Deepesh K.; Rohrer, Brandon R.; Spletzer, Barry L.; Galambos, Paul C.; Wheeler, Jason W.; Hobart, Clinton G.; Givler, Richard C.

2008-09-23

Footwear comprises a sole and a plurality of sealed cavities contained within the sole. The sealed cavities can be incorporated as deformable containers within an elastic medium, comprising the sole. A plurality of micro electro-mechanical system (MEMS) pressure sensors are respectively contained within the sealed cavity plurality, and can be adapted to measure static and dynamic pressure within each of the sealed cavities. The pressure measurements can provide information relating to the contact pressure distribution between the sole of the footwear and the wearer's environment.

Simulation of the electro-hydraulic control system of a BWR-5

International Nuclear Information System (INIS)

Acosta, M.; Montoya, J.; Chavez, H.

1986-01-01

The methodology used to develop the mathematical models for the simulation of the principal turbine electro-hydraulic control of the Laguna Verde Nuclear Plant (LVNP) is presented in this report. The development of the systems mathematical model is based on the response curves of each of its elements. Therefore, little error is expected with respect to real results. On the other hand, due to the fact that the greater part of the systems dynamics is governed by first order differential equations the explicit solution method is used allowing to solve the equations algebraically. The model is validated by comparing real valves and the ones obtained through our model. The analogical and logical parts will be tested considering transitory and steady state situations. The results are presented as computer graphs

The application of hydraulics in the 2,000 kW wind turbine generator

Science.gov (United States)

Onufreiczuk, S.

1978-01-01

A 2000 kW turbine generator using hydraulic power in two of its control systems is being built under the management of NASA Lewis Research Center. The hydraulic systems providing the control torques and forces for the yaw and blade pitch control systems are discussed. The yaw-drive-system hydraulic supply provides the power for positioning the nacelle so that the rotary axis is kept in line with the direction of the prevailing wind, as well as pressure to the yaw and high speed shaft brakes. The pitch-change-mechanism hydraulic system provides the actuation to the pitch change mechanism and permits feathering of the blades during an emergency situation. It operates in conjunction with the overall windmill computer system, with the feather control permitting slewing control flow to pass from the servo valve to the actuators without restriction.

Failure Mode of the Water-filled Fractures under Hydraulic Pressure in Karst Tunnels

Directory of Open Access Journals (Sweden)

Dong Xin

2017-06-01

Full Text Available Water-filled fractures continue to grow after the excavation of karst tunnels, and the hydraulic pressure in these fractures changes along with such growth. This paper simplifies the fractures in the surrounding rock as flat ellipses and then identifies the critical hydraulic pressure values required for the occurrence of tensile-shear and compression-shear failures in water-filled fractures in the case of plane stress. The occurrence of tensile-shear fracture requires a larger critical hydraulic pressure than compression-shear failure in the same fracture. This paper examines the effects of fracture strike and lateral pressure coefficient on critical hydraulic pressure, and identifies compression-shear failure as the main failure mode of water-filled fractures. This paper also analyses the hydraulic pressure distribution in fractures with different extensions, and reveals that hydraulic pressure decreases along with the continuous growth of fractures and cannot completely fill a newly formed fracture with water. Fracture growth may be interrupted under the effect of hydraulic tensile shear.

Hydraulically powered dissimilar teleoperated system controller design

International Nuclear Information System (INIS)

Jansen, J.F.; Kress, R.L.

1996-01-01

This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented

The influence of thermodynamic state of mineral hydraulic oil on flow rate through radial clearance at zero overlap inside the hydraulic components

Directory of Open Access Journals (Sweden)

Knežević Darko M.

2016-01-01

Full Text Available In control hydraulic components (servo valves, LS regulators, etc. there is a need for precise mathematical description of fluid flow through radial clearances between the control piston and body of component at zero overlap, small valve opening and small lengths of overlap. Such a mathematical description would allow for a better dynamic analysis and stability analysis of hydraulic systems. The existing formulas in the literature do not take into account the change of the physical properties of the fluid with a change of thermodynamic state of the fluid to determine the flow rate through radial clearances in hydraulic components at zero overlap, a small opening, and a small overlap lengths, which leads to the formation of insufficiently precise mathematical models. In this paper model description of fluid flow through radial clearances at zero overlap is developed, taking into account the changes of physical properties of hydraulic fluid as a function of pressure and temperature. In addition, the experimental verification of the mathematical model is performed.

Design and simulation for a hydraulic actuated quadruped robot

International Nuclear Information System (INIS)

Rong, Xuewen; Li, Yibin; Li, Bin; Ruan, Jiuhong

2012-01-01

This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders

Micro-hydromechanical deep drawing of metal cups with hydraulic pressure effects

Science.gov (United States)

Luo, Liang; Jiang, Zhengyi; Wei, Dongbin; Wang, Xiaogang; Zhou, Cunlong; Huang, Qingxue

2018-03-01

Micro-metal products have recently enjoyed high demand. In addition, metal microforming has drawn increasing attention due to its net-forming capability, batch manufacturing potential, high product quality, and relatively low equipment cost. Micro-hydromechanical deep drawing (MHDD), a typical microforming method, has been developed to take advantage of hydraulic force. With reduced dimensions, the hydraulic pressure development changes; accordingly, the lubrication condition changes from the macroscale to the microscale. A Voronoi-based finite element model is proposed in this paper to consider the change in lubrication in MHDD according to open and closed lubricant pocket theory. Simulation results agree with experimental results concerning drawing force. Changes in friction significantly affect the drawing process and the drawn cups. Moreover, defined wrinkle indexes have been shown to have a complex relationship with hydraulic pressure. High hydraulic pressure can increase the maximum drawing ratio (drawn cup height), whereas the surface finish represented by the wear is not linearly dependent on the hydraulic pressure due to the wrinkles.

Water Hydraulic Systems

DEFF Research Database (Denmark)

Conrad, Finn

2005-01-01

The paper presents research results using IT-Tools for CAD and dynamic modelling, simulation, analysis, and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. Matlab/Simulink and CATIA are used as IT-Tools. The contributions include results from on......-going research projects on fluid power and mechatronics based on tap water hydraulic servovalves and linear servo actuators and rotary vane actuators for motion control and power transmission. Development and design a novel water hydraulic rotary vane actuator for robot manipulators. Proposed mathematical...... modelling, control and simulation of a water hydraulic rotary vane actuator applied to power and control a two-links manipulator and evaluate performance. The results include engineering design and test of the proposed simulation models compared with IHA Tampere University’s presentation of research...

Robust Non-Chattering Observer Based Sliding Control Concept for Electro-Hydraulic Drives

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2013-01-01

This paper presents an observer-based sliding mode control concept with chattering reduction, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD's). The proposed control concept requires only common data sheet information and no knowledge on load...... extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller designed for the control derivative employing state observation is proposed, based on a generalized reduced order model structure of a VCD with unmatched valve ow......- and cylinder asymmetries. It is shown that limited attention can be given to bounds on parameter estimates, that chattering is reduced and the number of tuning parameters is reduced to the level seen in conventional PID schemes. Furthermore, simulation results demonstrate a high level of robustness when...

Novel electro-hydraulic position control system for primary mirror supporting system

Directory of Open Access Journals (Sweden)

Xiongbin Peng

2016-05-01

Full Text Available In the field of modern large-scale telescope, primary mirror supporting system technology faces the difficulties of theoretically uniform output force request and bias compensation. Therefore, a novel position control system combining hydraulic system with servo motor system is introduced. The novel system ensures uniform output force on supporting points without complicating the mechanical structure. The structures of both primary mirror supporting system and novel position system are described. Then, the mathematical model of novel position control system is derived for controller selection. A proportional–derivative controller is adopted for simulations and experiments of step response and triangle path tracking. The results show that proportional–derivative controller guarantees the system with micrometer-level positioning ability. A modified proportional–derivative controller is utilized to promote system behavior with faster response overshoot. The novel position control system is then applied on primary mirror supporting system. Coupling effect is observed among actuator partitions, and relocation of virtual pivot supporting point is chosen as the decoupling measurement. The position keeping ability of the primary mirror supporting system is verified by rotating the mirror cell at a considerably high rate. The experiment results show that the decoupled system performs better with smaller bias and shorter recovery time.

Pressure variation characteristics at trapping region in oil hydraulic piston pumps

International Nuclear Information System (INIS)

Kim, Jong Ki; Jung, Jae Youn; Rho, Byung Joon; Song, Kyu Keun; Oh, Seok Hyung

2003-01-01

Pressure variation is one of the major sources on noise emission in the oil hydraulic piston pumps. Therefore, it is necessary to clarify about pressure variation characteristics of the oil hydraulic piston pumps to reduce noise. Pressure variations in a cylinder at trapping region were measured during pump working period with discharge pressures, rotational speeds. The effect of pre-compression of the discharge port with three types valve plates also investigated. It was found that the pressure variation characteristics of oil hydraulic piston pumps deeply related with pre-compression design of the discharge port. Also, it was found that the pressure overshoot at trapping region can reduce by use of pre-compression at the end of the discharge port in valve plate

Dynamic Characteristics of DC Servo Motor Driven by Conventional Servo Driver: Estimation of Circuit Constants in Conventional Servo Driver

OpenAIRE

酒井, 史敏; 神谷, 好承; 関, 啓明; 疋津, 正利

2000-01-01

DC servo motors that are made as manufactured goods in the factory are widely used as actuators for driving many automatic machines. Then the manufactured driver (amplifier) that is matched to its servo motor is coveniently chosen to drive when aiming at high performance of the motion control. Motion of motor that is driven by the manufactured servo driver has very complicated dynamic characteristics. In this study, it is tried to make clear about inner composition of the servo driver through...

Design of The Test Stand for Hydraulic Active Heave Compensation System

Directory of Open Access Journals (Sweden)

Jakubowski Arkadiusz

2017-01-01

Full Text Available The article presented here described the design of a test stand for hydraulic active heave compensation system. The simulation of sea waves is realized by the use of hydraulic cylinder. A hydraulic motor is used for sea waves compensation. The hydraulic cylinder and the hydraulic motor are controlled by electrohydraulic servo valves. For the measurements Authors used displacement sensor and incremental encoder. Control algorithm is implemented on the PLC. The performed tests included hydraulic actuator and hydraulic motor step responses.

Real-time neural network-based self-tuning control of a nonlinear electro-hydraulic servomotor

Energy Technology Data Exchange (ETDEWEB)

Canelon, J.I.; Ortega, A.G. [Univ. del Zulia, Maracaibo, Zulia (Venezuela, Bolivarian Republic of). School of Electrical Engineering; Shieh, L.S. [Houston Univ., Houston, TX (United States). Dept. of Electrical and Computer Engineering; Bastidas, J.I. [Univ. del Zulia, Maracaibo, Zulia (Venezuela, Bolivarian Republic of). School of Mechanical Engineering; Zhang, Y.; Akujuobi, C.M. [Prairie View A and M Univ., Prairie View, TX (United States). Center of Excellence for Communication Systems Technology Research and Dept. of Engineering Technology

2010-08-13

For high power applications, hydraulic actuators offer many advantages over electromagnetic actuators, including higher torque/mass ratios; smaller control gains; excellent torque capability; filtered high frequency noise; better heat transfer characteristics; smaller size; higher speed of response of the servomechanism; cheaper hardware; and higher reliability. Therefore, any application that requires a large force applied smoothly by an actuator is a candidate for hydraulic power. Examples of such applications include vehicle steering and braking systems; roll mills; drilling rigs; heavy duty crane and presses; and industrial robots and actuators for aircraft control surfaces such as ailerons and flaps. It is extremely important to create effective control strategies for hydraulic systems. This paper outlined the real-time implementation of a neural network-based approach, for self-tuning control of the angular position of a nonlinear electro-hydraulic servomotor. Using an online training algorithm, a neural network autoregressive moving-average model with exogenous input (ARMAX) model of the system was identified and continuously updated and an optimal linear ARMAX model was determined. The paper briefly depicted the neural network-based self-tuning control approach and a description of the experimental equipment (hardware and software) was presented including the implementation details. The experimental results were discussed and conclusions were summarized. It was found that the approach proved to be very effective in the control of this fast dynamics system, outperforming a fine tuned PI controller. Therefore, although the self-tuning approach was computationally demanding, it was feasible for real-time implementation. 22 refs., 6 figs.

Advanced sensor fault detection and isolation for electro-mechanical flight actuators

OpenAIRE

Ossmann, Daniel; van der Linden, Franciscus

2015-01-01

Moving towards the more electric aircraft to be able to replace mechanic, hydraulic and pneumatic components of an aircraft, the aircraft industry calls for new technologies able to support this trend. One of these technologies is the development of advanced electro-mechanical actuators for aircraft control surfaces. Step by step hydraulic actuators are replaced by their electro-mechanical alternatives featuring weight and cost savings. As hydraulic actuators are used for decades by the air...

Hydraulic pressure control unit for control rod drive

International Nuclear Information System (INIS)

Watabe, Yukio.

1990-01-01

The pressure invention concerns a hydraulic pressure control unit for control rod drives in BWR type reactors. The space above a floating piston possessed by an accumulator and the housing of control rod drives are connected by means of a pipeline. The pipeline has a scram valve which is opened upon occurrence of reactor scram. A pump is disposed between the accumulator and the scram valve for communicating a discharge port to apply a high pressure water to the accumulator. According to the present invention, a control unit is disposed between the scram valve and the housing of the control rod drives in the hydraulic pressure control unit for maintaining the cross sectional area of the flow channel of the pipeline to a usual size when the pressure in a pressure vessel is under a rated operation pressure, while limiting the cross sectional area of the flow channel when the pressure is lower than that in the rated operation. Thus, whole insertion of the control rod substantially at a constant speed is enabled irrespective of the level of the pressure in the pressure vessel. (I.S.)

Multi-dimensional electro-omosis consolidation of clays

NARCIS (Netherlands)

Yuan, J.; Hicks, M.A.; Dijkstra, J.

2012-01-01

Electro-osmosis consolidation is an innovative and effective ground improvement method for soft clays. But electro-osmosis is also a very complicated process, as the mechanical behaviour, and hydraulic and electrical properties of the soil are changing rapidly during the treatment process; this

TRACKING CONTROL FOR A HYDRAULIC DRIVE WITH A PRESSURE COMPENSATOR

Directory of Open Access Journals (Sweden)

S. V. Aranovskiy

2015-07-01

Full Text Available A problem of tracking control is considered for a hydraulic drive with a pressure compensator that is widespread in the equipment of heavy-duty machines. Method. The control problem is solved by means of a switching sliding-mode controller coupled with static nonlinear compensation and desired velocity feedforward. Main Results. Mathematical model of a hydraulic drive is given in view of the pressure compensator presence. Traditional model of a hydraulic drive is formulated for a system with a spool valve; purpose and principles of operation of the pressure compensator in hydraulic systems are described, and the extended model is presented illustrating compensator contribution to overall system dynamics. It is shown that the obtained model has an input static nonlinearity; the nonlinearity cancellation method is proposed giving the possibility for injection of a desired velocity feedforward term. The control law is chosen as a switching one and two chattering attenuation methods are studied: equivalent control estimation via filtering and sign function integration. Experimental studies are performed at a forestry hydraulic crane prototype and illustrate high tracking accuracy achieved for typical crane motions. Practical Significance. The results are suitable for heavy-duty hydraulic machines automation in construction, road building and forestry.

Effect of Hydraulic Pressure on Warm Hydro Mechanical Deep Drawing of Magnesium Alloy Sheet

Science.gov (United States)

Liu, Wei; Wu, Linzhi; Yuan, Shijian

The uniaxial tensile test and hydraulic bulging test of AZ31 magnesium alloy sheets were applied to study the influence of temperature on the material properties and obtain the forming limit curves at different temperatures. Numerical simulations of warm hydro mechanical deep drawing were carried out to investigate the effect of hydraulic pressure on the formability of a cylindrical cup, and the simplified hydraulic pressure profiles were used to simulate the loading procedure of hydraulic pressure. The optimal hydraulic pressure at different temperatures were given and verified by experimental studies at temperature 100°C and 170V.

Response time verification of in situ hydraulic pressure sensors in a nuclear reactor

International Nuclear Information System (INIS)

Foster, C.G.

1978-01-01

A method and apparatus for verifying response time in situ of hydraulic pressure and pressure differential sensing instrumentation in a nuclear circuit is disclosed. Hydraulic pressure at a reference sensor and at an in situ process sensor under test is varied according to a linear ramp. Sensor response time is then determined by comparison of the sensor electrical analog output signals. The process sensor is subjected to a relatively slowly changing and a relatively rapidly changing hydraulic pressure ramp signal to determine an upper bound for process sensor response time over the range of all pressure transients to which the sensor is required to respond. Signal linearity is independent of the volumetric displacement of the process sensor. The hydraulic signal generator includes a first pressurizable gas reservoir, a second pressurizable liquid and gas reservoir, a gate for rapidly opening a gas communication path between the two reservoirs, a throttle valve for regulating rate of gas pressure equalization between the two reservoirs, and hydraulic conduit means for simultaneously communicating a ramp of hydraulic pressure change between the liquid/gas reservoir and both a reference and a process sensor. By maintaining a sufficient pressure differential between the reservoirs and by maintaining a sufficient ratio of gas to liquid in the liquid/gas reservoir, excellent linearity and minimal transient effects can be achieved for all pressure ranges, magnitudes, and rates of change of interest

Thermal Hydraulic Integral Effect Tests for Pressurized Water Reactors

Energy Technology Data Exchange (ETDEWEB)

Baek, W. P.; Song, C. H.; Kim, Y. S. and others

2005-02-15

The objectives of the project are to construct a thermal-hydraulic integral effect test facility and to perform various integral effect tests for design, operation, and safety regulation of pressurized water reactors. During the first phase of this project (1997.8{approx}2002.3), the basic technology for thermal-hydraulic integral effect tests was established and the basic design of the test facility was accomplished: a full-height, 1/300-volume-scaled full pressure facility for APR1400, an evolutionary pressurized water reactor that was developed by Korean industry. Main objectives of the present phase (2002.4{approx}2005.2), was to optimize the facility design and to construct the experimental facility. We have performed following researches: 1) Optimization of the basic design of the thermal-hydraulic integral effect test facility for PWRs - ATLAS (Advanced Thermal-hydraulic Test Loop for Accident Simulation) - Reduced height design for APR1400 (+ specific design features of KSNP safety injection systems) - Thermal-hydraulic scaling based on three-level scaling methodology by Ishii et al. 2) Construction of the ATLAS facility - Detailed design of the test facility - Manufacturing and procurement of components - Installation of the facility 3) Development of supporting technology for integral effect tests - Development and application of advanced instrumentation technology - Preliminary analysis of test scenarios - Development of experimental procedures - Establishment and implementation of QA system/procedure.

Magnetic Field and Torque Output of Packaged Hydraulic Torque Motor

Directory of Open Access Journals (Sweden)

Liang Yan

2018-01-01

Full Text Available Hydraulic torque motors are one key component in electro-hydraulic servo valves that convert the electrical signal into mechanical motions. The systematic characteristics analysis of the hydraulic torque motor has not been found in the previous research, including the distribution of the electromagnetic field and torque output, and particularly the relationship between them. In addition, conventional studies of hydraulic torque motors generally assume an evenly distributed magnetic flux field and ignore the influence of special mechanical geometry in the air gaps, which may compromise the accuracy of analyzing the result and the high-precision motion control performance. Therefore, the objective of this study is to conduct a detailed analysis of the distribution of the magnetic field and torque output; the influence of limiting holes in the air gaps is considered to improve the accuracy of both numerical computation and analytical modeling. The structure and working principle of the torque motor are presented first. The magnetic field distribution in the air gaps and the magnetic saturation in the iron blocks are analyzed by using a numerical approach. Subsequently, the torque generation with respect to the current input and assembly errors is analyzed in detail. This shows that the influence of limiting holes on the magnetic field is consistent with that on torque generation. Following this, a novel modified equivalent magnetic circuit is proposed to formulate the torque output of the hydraulic torque motor analytically. The comparison among the modified equivalent magnetic circuit, the conventional modeling approach and the numerical computation is conducted, and it is found that the proposed method helps to improve the modeling accuracy by taking into account the effect of special geometry inside the air gaps.

Separation of ions in nanofluidic channels with combined pressure-driven and electro-osmotic flow.

Science.gov (United States)

Gillespie, Dirk; Pennathur, Sumita

2013-03-05

Separation of ionic species with the same electrophoretic mobility but different valence in electrolyte systems can occur within nanometer-scale channels with finite electrical double layers (EDLs). This is because EDL thicknesses are a significant fraction of slit height in such channels and can create transverse analyte concentration profiles that allow for unique separation modalities when combined with axial fluid flow. Previous work has shown such separation to occur using either pressure-driven flow or electro-osmotic flow separately. Here, we develop a Poisson-Boltzmann model to compare the separation of such ions using the combination of both pressure-driven and electro-osmotic flow. Applying a pressure gradient in the opposite direction of electro-osmotic flow can allow for zero or infinite retention of analyte species, which we investigate using three different wall boundary conditions. Furthermore, we determine conditions in fused silica nanochannels with which to generate optimal separation between two analytes of different charge but the same mobility. We also give simple rules of thumb to achieve the best separation efficacy in nanochannel systems.

Characterizing hydraulic fractures in shale gas reservoirs using transient pressure tests

Directory of Open Access Journals (Sweden)

Cong Wang

2015-06-01

This work presents an unconventional gas reservoir simulator and its application to quantify hydraulic fractures in shale gas reservoirs using transient pressure data. The numerical model incorporates most known physical processes for gas production from unconventional reservoirs, including two-phase flow of liquid and gas, Klinkenberg effect, non-Darcy flow, and nonlinear adsorption. In addition, the model is able to handle various types and scales of fractures or heterogeneity using continuum, discrete or hybrid modeling approaches under different well production conditions of varying rate or pressure. Our modeling studies indicate that the most sensitive parameter of hydraulic fractures to early transient gas flow through extremely low permeability rock is actually the fracture-matrix contacting area, generated by fracturing stimulation. Based on this observation, it is possible to use transient pressure testing data to estimate the area of fractures generated from fracturing operations. We will conduct a series of modeling studies and present a methodology using typical transient pressure responses, simulated by the numerical model, to estimate fracture areas created or to quantity hydraulic fractures with traditional well testing technology. The type curves of pressure transients from this study can be used to quantify hydraulic fractures in field application.

Dreams of pneumatic servo and rail way cars in 2010; 2010 nen noyume kukiatsu servo to tetsudo sharyo

Energy Technology Data Exchange (ETDEWEB)

Sasaki, K. [Tokyo Precision Instruments Co. Ltd., Kanagawa (Japan)

2000-01-15

This paper describes pneumatic servo and railway cars. The comfort of railway cars is improved by reducing excess transverse centrifugal force, and longitudinal, transverse and vertical vibration. Pneumatic system plays a large role in the comfort. Pneumatic system is used for doors because of certain open/shut operation and protecting a hand caught in a door from excess tightening pressure. Pneumatic system is also used for mechanical brakes. Pneumatic spring for car suspensions improves the comfort considerably. The orifice and auxiliary tank of a pneumatic spring reduce a spring constant, and give damping to the vibration system of car bodies and springs. To reduce an outward excess centrifugal force by tilting a car body inward at curve, a body tilting equipment is used which is adopted for a pendulum car with pneumatic servo control, and a tilting car with height control of both side pneumatic springs. For transverse damping, semi-active equipment using oil damper is in wide use, while that using pneumatic servo is also in rial use. (NEDO)

Simulation of Thermal Hydraulic at Supercritical Pressures with APROS

Energy Technology Data Exchange (ETDEWEB)

Kurki, Joona [VTT Technical Research Centre of Finland, P.O. Box 1000, FI02044 VTT (Finland)

2008-07-01

The proposed concepts for the fourth generation of nuclear reactors include a reactor operating with water at thermodynamically supercritical state, the Supercritical Water Reactor (SCWR). For the design and safety demonstrations of such a reactor, the possibility to accurately simulate the thermal hydraulics of the supercritical coolant is an absolute prerequisite. For this purpose, the one-dimensional two-phase thermal hydraulics solution of APROS process simulation software was developed to function at the supercritical pressure region. Software modifications included the redefinition of some parameters that have physical significance only at the subcritical pressures, improvement of the steam tables, and addition of heat transfer and friction correlations suitable for the supercritical pressure region. (author)

Pressure Transient Model of Water-Hydraulic Pipelines with Cavitation

Directory of Open Access Journals (Sweden)

Dan Jiang

2018-03-01

Full Text Available Transient pressure investigation of water-hydraulic pipelines is a challenge in the fluid transmission field, since the flow continuity equation and momentum equation are partial differential, and the vaporous cavitation has high dynamics; the frictional force caused by fluid viscosity is especially uncertain. In this study, due to the different transient pressure dynamics in upstream and downstream pipelines, the finite difference method (FDM is adopted to handle pressure transients with and without cavitation, as well as steady friction and frequency-dependent unsteady friction. Different from the traditional method of characteristics (MOC, the FDM is advantageous in terms of the simple and convenient computation. Furthermore, the mechanism of cavitation growth and collapse are captured both upstream and downstream of the water-hydraulic pipeline, i.e., the cavitation start time, the end time, the duration, the maximum volume, and the corresponding time points. By referring to the experimental results of two previous works, the comparative simulation results of two computation methods are verified in experimental water-hydraulic pipelines, which indicates that the finite difference method shows better data consistency than the MOC.

Thermal-hydraulics of the Loviisa reactor pressure vessel overcooling transients

International Nuclear Information System (INIS)

Tuomisto, Harri.

1987-06-01

In the Loviisa reactor pressure vessel safety analyses, the thermal-hydraulics of various overcooling transients has been evaluated to give pertinent initial data for fracture-mechanics calculations. The thermal-hydraulic simulations of the developed overcooling scenarios have been performed using best-estimate thermal-hydraulic computer codes. Experimental programs have been carried out to study phenomena related to natural circulation interruptions in the reactor coolant system. These experiments include buoyancy-induced phenomena such as thermal mixing and stratification of cold high-pressure safety injection water in the cold legs and the downcomer, and oscillations of the single-phase natural circulation. In the probabilistic pressurized thermal shock study, the Loviisa training simulator and the advanced system code RELAP5/MOD2 were utilized to simulate selected sequences. Flow stagnation cases were separately calculated with the REMIX computer program. The methods employed were assessed for these calculations against the plant data and own experiments

Fabrication of a novel cascade high-pressure electro-osmotic pump.

Science.gov (United States)

Zhang, Feifang; Wang, Rong; Han, Tingting; Yang, Bingcheng; Liang, Xinmiao

2011-07-07

A novel cascade electro-osmotic pump (EOP) has been fabricated by alternately connecting a cation monolithic column and anion monolithic column in series. In this manner, the change of electric polarity between each stage of the cascade EOP is easily achieved and the pressure output of the EOP could be greatly enhanced without increase of the applied voltage.

Controlling a negative loaded hydraulic cylinder using pressure feedback

DEFF Research Database (Denmark)

Hansen, M.R.; Andersen, T.O.

2010-01-01

This paper is concerned with the inherent oscillatory nature of pressure compensated velocity control of a hydraulic cylinder subjected to a negative load and suspended by means of an over-center valve. Initially, a linearized stability analysis of such a hydraulic circuit is carried out clearly ...... in a nonlinear time domain simulation model validating the linear stability analysis....

Servo scanning 3D micro EDM for array micro cavities using on-machine fabricated tool electrodes

Science.gov (United States)

Tong, Hao; Li, Yong; Zhang, Long

2018-02-01

Array micro cavities are useful in many fields including in micro molds, optical devices, biochips and so on. Array servo scanning micro electro discharge machining (EDM), using array micro electrodes with simple cross-sectional shape, has the advantage of machining complex 3D micro cavities in batches. In this paper, the machining errors caused by offline-fabricated array micro electrodes are analyzed in particular, and then a machining process of array servo scanning micro EDM is proposed by using on-machine fabricated array micro electrodes. The array micro electrodes are fabricated on-machine by combined procedures including wire electro discharge grinding, array reverse copying and electrode end trimming. Nine-array tool electrodes with Φ80 µm diameter and 600 µm length are obtained. Furthermore, the proposed process is verified by several machining experiments for achieving nine-array hexagonal micro cavities with top side length of 300 µm, bottom side length of 150 µm, and depth of 112 µm or 120 µm. In the experiments, a chip hump accumulates on the electrode tips like the built-up edge in mechanical machining under the conditions of brass workpieces, copper electrodes and the dielectric of deionized water. The accumulated hump can be avoided by replacing the water dielectric by an oil dielectric.

Engineering design of IFMIF/EVEDA lithium test loop. Electro-magnetic pump and pressure drop

International Nuclear Information System (INIS)

Kondo, Hiroo; Furukawa, Tomohiro; Hirakawa, Yasushi; Iuchi, Hiroshi; Kanemura, Takuji; Ida, Mizuho; Watanabe, Kazuyoshi; Wakai, Eiichi; Nakamura, Kazuyuki; Horiike, H.; Yamaoka, N.; Matsushita, I.

2011-01-01

The Engineering Validation and Engineering Design Activities (EVEDA) for the International Fusion Materials Irradiation Facility (IFMIF) is proceeding as one of the ITER Broader Approach (ITER-BA). A Li circulation loop for testing hydraulic stability of the Li target (high speed free-surface flow of liquid Li as a beam target) and Li purification traps are under construction in the Japan Atomic Energy Agency as a major Japanese activities in the EVEDA. This paper presents specification of an electro-magnetic pump (EMP) for the EVEDA Li Test Loop (ELTL) and evaluation of the pressure drop in the main loop of the ELTL. The EMP circulates the liquid Li at a large flow rate up to 0.05 m 3 /s (3000 l/min) under a vacuum cover gas (Ar) pressure of 10 -3 Pa, thus the evaluation of cavitation generation is a crucial issue. The EMP used in the ELTL consists of two EMPs aligned in series through a U-tube whose size of one EMP is 0.8 m square and 2.6 m in length. The calculation of the pressure drop in the main Li loop to the EMP is approx. 25 kPa at the design maximum flow rate of 0.05 m 3 /s. On the other hand the height from the EMP to a Li tank to supply Li to the EMP is designed to be 9.72 m, and secures a static pressure and the cavitation number of 18 kPa and 3.4 respectively at the maximum flow rate in a vacuum condition. As a result, it is confirmed to prevent cavitation at the inlet of the EMP in this design. (author)

Tree shoot bending generates hydraulic pressure pulses: a new long-distance signal?

Science.gov (United States)

Lopez, Rosana; Badel, Eric; Peraudeau, Sebastien; Leblanc-Fournier, Nathalie; Beaujard, François; Julien, Jean-Louis; Cochard, Hervé; Moulia, Bruno

2014-05-01

When tree stems are mechanically stimulated, a rapid long-distance signal is induced that slows down primary growth. An investigation was carried out to determine whether the signal might be borne by a mechanically induced pressure pulse in the xylem. Coupling xylem flow meters and pressure sensors with a mechanical testing device, the hydraulic effects of mechanical deformation of tree stem and branches were measured. Organs of several tree species were studied, including gymnosperms and angiosperms with different wood densities and anatomies. Bending had a negligible effect on xylem conductivity, even when deformations were sustained or were larger than would be encountered in nature. It was found that bending caused transient variation in the hydraulic pressure within the xylem of branch segments. This local transient increase in pressure in the xylem was rapidly propagated along the vascular system in planta to the upper and lower regions of the stem. It was shown that this hydraulic pulse originates from the apoplast. Water that was mobilized in the hydraulic pulses came from the saturated porous material of the conduits and their walls, suggesting that the poroelastic behaviour of xylem might be a key factor. Although likely to be a generic mechanical response, quantitative differences in the hydraulic pulse were found in different species, possibly related to differences in xylem anatomy. Importantly the hydraulic pulse was proportional to the strained volume, similar to known thigmomorphogenetic responses. It is hypothesized that the hydraulic pulse may be the signal that rapidly transmits mechanobiological information to leaves, roots, and apices.

Improvement of Algorithms for Pressure Maintenance Systems in Drum-Separators of RBMK-1000 Reactors

Energy Technology Data Exchange (ETDEWEB)

Aleksakov, A. N., E-mail: yankovskiy.k@nikiet.ru; Yankovskiy, K. I. [JSC “N. A. Dollezhal Research and Development Institute of Power Engineering (NIKIET),” (Russian Federation); Dunaev, V. I.; Kushbasov, A. N. [JSC “Diakont,” (Russian Federation)

2015-05-15

The main tasks and challenges for pressure regulation in the drum-separators of RBMK-1000 reactors are described. New approaches to constructing algorithms for pressure control in drum-separators by electro-hydraulic turbine control systems are discussed. Results are provided from tests of the operation of modernized pressure regulators during fast transients with reductions in reactor power.

Development of Proportional Pressure Control Valve for Hydraulic Braking Actuator of Automobile ABS

Directory of Open Access Journals (Sweden)

Che-Pin Chen

2018-04-01

Full Text Available This research developed a novel proportional pressure control valve for an automobile hydraulic braking actuator. It also analyzed and simulated solenoid force of the control valves, and the pressure relief capability test of electromagnetic thrust with the proportional valve body. Considering the high controllability and ease of production, the driver of this proportional valve was designed with a small volume and powerful solenoid force to control braking pressure and flow. Since the proportional valve can have closed-loop control, the proportional valve can replace a conventional solenoid valve in current brake actuators. With the proportional valve controlling braking and pressure relief mode, it can narrow the space of hydraulic braking actuator, and precisely control braking force to achieve safety objectives. Finally, the proposed novel proportional pressure control valve of an automobile hydraulic braking actuator was implemented and verified experimentally.

Nonlinear adaptive robust back stepping force control of hydraulic load simulator: Theory and experiments

International Nuclear Information System (INIS)

Yao, Jianyong; Jiao, Zongxia; Yao, Bin

2014-01-01

High performance robust force control of hydraulic load simulator with constant but unknown hydraulic parameters is considered. In contrast to the linear control based on hydraulic linearization equations, hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative (PID) control not yield to high performance requirements. Furthermore, the hydraulic system may be subjected to non-smooth and discontinuous nonlinearities due to the directional change of valve opening. In this paper, based on a nonlinear system model of hydraulic load simulator, a discontinuous projection-based nonlinear adaptive robust back stepping controller is developed with servo valve dynamics. The proposed controller constructs a novel stable adaptive controller and adaptation laws with additional pressure dynamic related unknown parameters, which can compensate for the system nonlinearities and uncertain parameters, meanwhile a well-designed robust controller is also synthesized to dominate the model uncertainties coming from both parametric uncertainties and uncertain nonlinearities including unmodeled and ignored system dynamics. The controller theoretically guarantee a prescribed transient performance and final tracking accuracy in presence of both parametric uncertainties and uncertain nonlinearities; while achieving asymptotic output tracking in the absence of unstructured uncertainties. The implementation issues are also discussed for controller simplification. Some comparative results are obtained to verify the high-performance nature of the proposed controller.

Nonlinear adaptive robust back stepping force control of hydraulic load simulator: Theory and experiments

Energy Technology Data Exchange (ETDEWEB)

Yao, Jianyong [Nanjing University of Science and Technology, Nanjing (China); Jiao, Zongxia [Beihang University, Beijing (China); Yao, Bin [Purdue University, West Lafayette (United States)

2014-04-15

High performance robust force control of hydraulic load simulator with constant but unknown hydraulic parameters is considered. In contrast to the linear control based on hydraulic linearization equations, hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative (PID) control not yield to high performance requirements. Furthermore, the hydraulic system may be subjected to non-smooth and discontinuous nonlinearities due to the directional change of valve opening. In this paper, based on a nonlinear system model of hydraulic load simulator, a discontinuous projection-based nonlinear adaptive robust back stepping controller is developed with servo valve dynamics. The proposed controller constructs a novel stable adaptive controller and adaptation laws with additional pressure dynamic related unknown parameters, which can compensate for the system nonlinearities and uncertain parameters, meanwhile a well-designed robust controller is also synthesized to dominate the model uncertainties coming from both parametric uncertainties and uncertain nonlinearities including unmodeled and ignored system dynamics. The controller theoretically guarantee a prescribed transient performance and final tracking accuracy in presence of both parametric uncertainties and uncertain nonlinearities; while achieving asymptotic output tracking in the absence of unstructured uncertainties. The implementation issues are also discussed for controller simplification. Some comparative results are obtained to verify the high-performance nature of the proposed controller.

Changes in entrapped gas content and hydraulic conductivity with pressure.

Science.gov (United States)

Marinas, Maricris; Roy, James W; Smith, James E

2013-01-01

Water table fluctuations continuously introduce entrapped air bubbles into the otherwise saturated capillary fringe and groundwater zone, which reduces the effective (quasi-saturated) hydraulic conductivity, K(quasi), thus impacting groundwater flow, aquifer recharge and solute and contaminant transport. These entrapped gases will be susceptible to compression or expansion with changes in water pressure, as would be expected with water table (and barometric pressure) fluctuations. Here we undertake laboratory experiments using sand-packed columns to quantify the effect of water table changes of up to 250 cm on the entrapped gas content and the quasi-saturated hydraulic conductivity, and discuss our ability to account for these mechanisms in ground water models. Initial entrapped air contents ranged between 0.080 and 0.158, with a corresponding K(quasi) ranging between 2 and 6 times lower compared to the K(s) value. The application of 250 cm of water pressure caused an 18% to 26% reduction in the entrapped air content, resulting in an increase in K(quasi) by 1.16 to 1.57 times compared to its initial (0 cm water pressure) value. The change in entrapped air content measured at pressure step intervals of 50 cm, was essentially linear, and could be modeled according to the ideal gas law. Meanwhile, the changes in K(quasi) with compression-expansion of the bubbles because of pressure changes could be adequately captured with several current hydraulic conductivity models. © Ground Water 2012 and © Her Majesty the Queen in Right of Canada 2012. Ground Water © 2012, National Ground Water Association.

Control rod driving hydraulic pressure device

International Nuclear Information System (INIS)

Ogawa, Masahide.

1993-01-01

The present invention concerns a control rod driving hydraulic device of a BWR type reactor, and provides an improvement for a means for supplying mechanical seal flashing water of a pump. That is, a mechanical seal flashing pipeline is branched at the downstream of a pressure-reducing orifice and connected to a minimum flow pipeline. With such a constitution, the minimum flow pipeline is connected to a minimum flow pipeline of an auxiliary pump at the downstream of the pressure-reducing orifice and returned to a suction pipeline of the pump. Pressure at the downstream of the pressure-reducing orifice is set, in the orifice, to a pressure required for mechanical seal flashing. Accordingly, the mechanical seal flashing pipeline is connected and a part of minimum flow rate is utilized, thereby enabling to cool mechanical seals. As a result, flow rate of the mechanical flashing water which has been flown out can be saved. The exhaustion amount from the pump can be reduced, to decrease the shaft power and reduce the capacity of the motor. (I.S.)

Robust Position Tracking for Electro-Hydraulic Drives Based on Generalized Feedforward Compensation Approach

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2012-01-01

This paper presents a robust tracking control concept based on accurate feedforward compensation for hydraulic valve-cylinder drives. The proposed feedforward compensator is obtained utilizing a generalized description of the valve flow that takes into account any asymmetry of valves and...... constant gain type feedforward compensator, when subjected to strong perturbations in supply pressure and coulomb friction....

Effect of Hydraulic Accumulator on Pressure Surge of a Hydrostatic Transmission System

Science.gov (United States)

Kumar, Ajit; Das, Jayanta; Dasgupta, Kabir; Barnwal, Manish Kumar

2018-04-01

Hydraulic power system is generally used in off-road vehicles for power transmission such as Heavy Earth Moving Machineries (HEMM). Their energy efficiency and unsubstantial failure becomes an extensive subject of analysis. Various arrangements in the system are compassed along with the utilization of some appropriate components. Application of a hydraulic accumulator is one among them. Benefits of accumulator is its multi-purpose usages like energy saving and pressure surge damping. This paper deals with the control of pressure surges in the hydraulic system and energy saving from the surges by using accumulator. For this purpose, the simulation of the hydraulic system is done in MATLAB/SimulinkR environment and an external disturbance is introduced to generate the pressure surge. The surge absorptivity of the accumulator is studied for different sizes at different pre-charged conditions of the accumulator. The discharge characteristics of different sized accumulators are also analyzed in this paper. It is observed that the ability to absorb the surge and stabilize the system is high in the smaller capacity accumulator. However the energy delivery time of larger sized accumulator is high.

Thermal Hydraulic Integral Effect Tests for Pressurized Water Reactors

International Nuclear Information System (INIS)

Baek, Won Pil; Song, C. H.; Kim, Y. S.

2007-02-01

The objectives of the project are to construct a thermal-hydraulic integral effect test facility and to perform the tests for design, operation, and safety regulation of pressurized water reactors. In the first phase of this project (1997.8∼2002.3), the basic technology for thermal-hydraulic integral effect tests was established and the basic design of the test facility was accomplished. In the second phase (2002.4∼2005.2), an optimized design of the ATLAS (Advanced Thermal-hydraulic Test Loop for Accident Simulation) was established and the construction of the facility was almost completed. In the third phase (2005.3∼2007.2), the construction and commission tests of the ATLAS are to be completed and some first-phase tests are to be conducted

Experimental study of the pressure discharge process for the hydraulic control rod drive system stepped cylinder

International Nuclear Information System (INIS)

Wang, Jinhua; Bo, Hanliang; Zheng, Wenxiang

2002-01-01

The pressure discharge process from the stepped cylinder of the Hydraulic Control Rod Drive System (HCRDS) was studied experimentally in the HCRDS experimental loop for the 200 MW Nuclear Heating Reactor (NHR-200). The results showed that the differential pressure between the outside and the inside of the stepped cylinder increased rapidly to the desired value so that the force induced by the differential pressure which pushes the out tube of stepped cylinder was large enough. Therefore, if the hydraulic control rod were jammed, the pressure could push the hydraulic control rod to overcome the frictional resistance to insert the control rod into the reactor core. The experimental results verified that this design would solve the problem of hydraulic control rod jamming during an accident. (author)

Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

Energy Technology Data Exchange (ETDEWEB)

Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

1999-05-15

Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

High Strain Rate Characterisation of Composite Materials

DEFF Research Database (Denmark)

Eriksen, Rasmus Normann Wilken

-reinforced polymers, were considered, and it was first shown that the loading history controls equilibrium process. Then the High-speed servo-hydraulic test machine was analysed in terms its ability to create a state of constant strain rate in the specimen. The invertible inertial forces in the load train prevented...... from designing and constructing a high-speed servo-hydraulic test machine and by performing a comprehensive test series. The difficulties encountered in the test work could be addressed with the developed analysis. The conclusion was that the High-speed servo-hydraulic test machine is less suited...... for testing fibre-reinforced polymers due to their elastic behaviour and low strain to failure. This is problematic as the High-speed servo-hydraulic test machine closes the gap between quasi-static tests rates and lower strain rates, which are achievable with the Split Hopkinson Pressure Bar. The Split...

Discussion on Stochastic Analysis of Hydraulic Vibration in Pressurized Water Diversion and Hydropower Systems

Directory of Open Access Journals (Sweden)

Jianxu Zhou

2018-03-01

Full Text Available Hydraulic vibration exists in various water conveyance projects and has resulted in different operating problems, but its obvious effects on system’s pressure head and stable operation have not been definitively addressed in the issued codes for engineering design, especially considering the uncertainties of hydraulic vibration. After detailed analysis of the randomness in hydraulic vibration and the commonly used stochastic approaches, in the basic equations for hydraulic vibration analysis, the random parameters and the formed stochastic equations were discussed for further probabilistic characteristic analysis of the random variables. Furthermore, preliminary investigation of the stochastic analysis of hydraulic vibration in pressurized pipelines and possible self-excited vibration in pumped-storage systems was presented for further consideration. The detailed discussion indicates that it is necessary to conduct further and systematic stochastic analysis of hydraulic vibration. Further, with the obtained frequencies and amplitudes in the form of a probability statement, the stochastic characteristics of various hydraulic vibrations can be investigated in detail and these solutions will be more reasonable for practical applications. Eventually, the stochastic analysis of hydraulic vibration will provide a basic premise to introduce its effect into the engineering design of water diversion and hydropower systems.

Multi-objective optimization of the control strategy of electric vehicle electro-hydraulic composite braking system with genetic algorithm

Directory of Open Access Journals (Sweden)

Zhang Fengjiao

2015-03-01

Full Text Available Optimization of the control strategy plays an important role in improving the performance of electric vehicles. In order to improve the braking stability and recover the braking energy, a multi-objective genetic algorithm is applied to optimize the key parameters in the control strategy of electric vehicle electro-hydraulic composite braking system. Various limitations are considered in the optimization process, and the optimization results are verified by a software simulation platform of electric vehicle regenerative braking system in typical brake conditions. The results show that optimization objectives achieved a good astringency, and the optimized control strategy can increase the brake energy recovery effectively under the condition of ensuring the braking stability.

Hydraulic shock absorbers

International Nuclear Information System (INIS)

Thatcher, G.; Davidson, D. F.

1984-01-01

A hydraulic shock absorber of the dash pot kind for use with electrically conducting liquid such as sodium, has magnet means for electro magnetically braking a stream of liquid discharged from the cylinder. The shock absorber finds use in a liquid metal cooled nuclear reactor for arresting control rods

Experimental Investigation – Magnetic Assisted Electro Discharge Machining

Science.gov (United States)

Kesava Reddy, Chirra; Manzoor Hussain, M.; Satyanarayana, S.; Krishna, M. V. S. Murali

2018-04-01

Emerging technology needs advanced machined parts with high strength and temperature resistance, high fatigue life at low production cost with good surface quality to fit into various industrial applications. Electro discharge machine is one of the extensively used machines to manufacture advanced machined parts which cannot be machined by other traditional machine with high precision and accuracy. Machining of DIN 17350-1.2080 (High Carbon High Chromium steel), using electro discharge machining has been discussed in this paper. In the present investigation an effort is made to use permanent magnet at various positions near the spark zone to improve surface quality of the machined surface. Taguchi methodology is used to obtain optimal choice for each machining parameter such as peak current, pulse duration, gap voltage and Servo reference voltage etc. Process parameters have significant influence on machining characteristics and surface finish. Improvement in surface finish is observed when process parameters are set at optimum condition under the influence of magnetic field at various positions.

a design to digitalize hydraulic cylinder control of a machine tool

African Journals Online (AJOL)

Dr Obe

1995-09-01

Sep 1, 1995 ... Department of Mechanical Engineering. FEDERAL UNIVERSITY OF TECHNOLOGY, OWERRI,. P.M.B. 1526, OWERRI. ABSTRACT. Conventionally hydraulic piston - cylinder servos are actuated using analogue controls for machine tool axis drives. In this paper a design of the axis control system of an NC ...

MODEL TESTING OF LOW PRESSURE HYDRAULIC TURBINE WITH HIGHER EFFICIENCY

Directory of Open Access Journals (Sweden)

V. K. Nedbalsky

2007-01-01

Full Text Available A design of low pressure turbine has been developed and it is covered by an invention patent and a useful model patent. Testing of the hydraulic turbine model has been carried out when it was installed on a vertical shaft. The efficiency was equal to 76–78 % that exceeds efficiency of the known low pressure blade turbines. 

Performance of an Electro-Hydrostatic Actuator on the F-18 Systems Research Aircraft

Science.gov (United States)

Navarro, Robert

1997-01-01

An electro-hydrostatic actuator was evaluated at NASA Dryden Flight Research Center, Edwards, California. The primary goal of testing this actuator system was the flight demonstration of power-by-wire technology on a primary flight control surface. The electro-hydrostatic actuator uses an electric motor to drive a hydraulic pump and relies on local hydraulics for force transmission. This actuator replaced the F-18 standard left aileron actuator on the F-18 Systems Research Aircraft and was evaluated throughout the Systems Research Aircraft flight envelope. As of July 24, 1997 the electro-hydrostatic actuator had accumulated 23.5 hours of flight time. This paper presents the electro-hydrostatic actuator system configuration and component description, ground and flight test plans, ground and flight test results, and lessons learned. This actuator performs as well as the standard actuator and has more load capability than required by aileron actuator specifications of McDonnell- Douglas Aircraft, St. Louis, Missouri. The electro-hydrostatic actuator system passed all of its ground tests with the exception of one power-off test during unloaded dynamic cycling.

Measuring the initial earth pressure of granite using hydraulic fracturing test; Goseong and Yuseong areas

Energy Technology Data Exchange (ETDEWEB)

Park, Byoung Yoon; Bae, Dae Seok; Kim, Chun Soo; Kim, Kyung Su; Koh, Young Kwon; Won, Kyung Sik [Korea Atomic Energy Research Institute, Taejeon (Korea)

2002-02-01

This report provides the initial earth pressure of granitic rocks obtained from Deep Core Drilling Program which is carried out as part of the assessment of deep geological environmental condition. These data are obtained by hydraulic fracturing test in three boreholes drilled up to 350{approx}500 m depth at the Yuseong and Goseong sites. These sites were selected based on the result of preliminary site evaluation study. The boreholes are NX-size (76 mm) and vertical. The procedure of hydraulic fracturing test is as follows: - Selecting the testing positions by preliminary investigation using BHTV logging. - Performing the hydraulic fracturing test at each selected position with depth.- Estimating the shut-in pressure by the bilinear pressure-decay-rate method. - Estimating the fracture reopening pressure from the pressure-time curves.- Estimating the horizontal principal stresses and the direction of principal stresses. 65 refs., 39 figs., 12 tabs. (Author)

Method for achieving hydraulic balance in typical Chinese building heating systems by managing differential pressure and flow

DEFF Research Database (Denmark)

Zhang, Lipeng; Xia, Jianjun; Thorsen, Jan Eric

2017-01-01

to a lack of pressure and flow control. This study investigated using pre-set radiator valves combined with differential pressure (DP) controllers to achieve hydraulic balance in building distribution systems, and consequently save energy and reduce the emissions. We considered a multi-storey building......Hydraulic unbalance is a common problem in Chinese district heating (DH) systems. Hydraulic unbalance has resulted in poor flow distribution among heating branches and overheating of apartments. Studies show that nearly 30% of the total heat supply is being wasted in Chinese DH systems due...... modelled in the IDA-ICE software, along with a self-developed mathematical hydraulic model to simulate its heat performance and hydraulic performance with various control scenarios. In contrast to the situation with no pressure or flow control, this solution achieves the required flow distribution...

Adaptive servo ventilation for central sleep apnoea in heart failure: SERVE-HF on-treatment analysis.

Science.gov (United States)

Woehrle, Holger; Cowie, Martin R; Eulenburg, Christine; Suling, Anna; Angermann, Christiane; d'Ortho, Marie-Pia; Erdmann, Erland; Levy, Patrick; Simonds, Anita K; Somers, Virend K; Zannad, Faiez; Teschler, Helmut; Wegscheider, Karl

2017-08-01

This on-treatment analysis was conducted to facilitate understanding of mechanisms underlying the increased risk of all-cause and cardiovascular mortality in heart failure patients with reduced ejection fraction and predominant central sleep apnoea randomised to adaptive servo ventilation versus the control group in the SERVE-HF trial.Time-dependent on-treatment analyses were conducted (unadjusted and adjusted for predictive covariates). A comprehensive, time-dependent model was developed to correct for asymmetric selection effects (to minimise bias).The comprehensive model showed increased cardiovascular death hazard ratios during adaptive servo ventilation usage periods, slightly lower than those in the SERVE-HF intention-to-treat analysis. Self-selection bias was evident. Patients randomised to adaptive servo ventilation who crossed over to the control group were at higher risk of cardiovascular death than controls, while control patients with crossover to adaptive servo ventilation showed a trend towards lower risk of cardiovascular death than patients randomised to adaptive servo ventilation. Cardiovascular risk did not increase as nightly adaptive servo ventilation usage increased.On-treatment analysis showed similar results to the SERVE-HF intention-to-treat analysis, with an increased risk of cardiovascular death in heart failure with reduced ejection fraction patients with predominant central sleep apnoea treated with adaptive servo ventilation. Bias is inevitable and needs to be taken into account in any kind of on-treatment analysis in positive airway pressure studies. Copyright ©ERS 2017.

Automated servo controlled calorimetry

International Nuclear Information System (INIS)

Wetzel, J.R.

1984-01-01

A method of operating a calorimeter is called the servo controlled method. An internal heater is driven by a controlled voltage source to produce a constant internal temperature. The heater power is controlled by a digital computer program that uses as one of its inputs the bridge potential. The heater power can be calculated by multiplying the heater current by the heater voltage. A bridge potential can then be determined that will produce the desired internal power level. When a sample is placed in the calorimeter the servo system reduces the heater power to maintain the set point bridge potential. There will be four calorimeters in the system - two for large sizes and two for small sizes. They will be servo controlled using a DEC Micro-11 computer with a IEEE-488 interface buss

Strain measurement in and analysis for hydraulic test of CPR1000 reactor pressure vessel

International Nuclear Information System (INIS)

Zhou Dan; Zhuang Dongzhen

2013-01-01

The strain measurement in hydraulic test of CPR1000 reactor pressure vessel performed in Dongfang Heavy Machinery Co., Ltd. is introduced. The detail test scheme and method was introduced and the measurement results of strain and stress was given. Meanwhile the finite element analysis was performed for the pressure vessel, which was generally matched with the measurement results. The reliability of strain measurement was verified and the high strength margin of vessel was shown, which would give a good reference value for the follow-up hydraulic tests and strength analysis of reactor pressure vessel. (authors)

Sliding Control with Chattering Elimination for Hydraulic Drives

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2012-01-01

This paper presents the development of a sliding mode control scheme with chattering elimination, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives. The proposed control scheme requires only common data sheet information, no knowledge on load characteri......This paper presents the development of a sliding mode control scheme with chattering elimination, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives. The proposed control scheme requires only common data sheet information, no knowledge on load...... controller is developed for the control derivative based on a reduced order model. Simulation results demonstrate strong robustness when subjected to parameter perturbations and that chattering is eliminated....

Study on acoustic emission signals of active defect in pressure piping under hydraulic pressure

International Nuclear Information System (INIS)

Ai Qiong; Liu Caixue; Wang Yao; He Pan; Song Jian

2009-01-01

Experimental investigations of acoustic emission (AE) of active defect in pressure piping with a prefabricated crack under hydraulic pressure tester were conducted. AE signals of fatigue-crack-growth in pressure piping were monitored incessantly in all processes, and all signals recorded were analyzed and processed. The result of signal processing show that the amplitude and energy of acoustic emission signals from defect in pressure pipeline increase gradually with the load time, and thus the active defects in pipeline can be identified; the amplitude, energy and count of acoustic emission signals increase sharply before the defect runs through, and we can forecast the penetrated leakage of pipeline. (authors)

A new confined high pressure rotary shear apparatus: preliminary results

Science.gov (United States)

Faulkner, D.; Coughlan, G.; Bedford, J. D.

2017-12-01

The frictional properties of fault zone materials, and their evolution during slip, are of paramount importance for determining the earthquake mechanics of large tectonic faults. Friction is a parameter that is difficult to determine from seismological methods so much of our understanding comes from experiment. Rotary shear apparatuses have been widely used in experimental studies to elucidate the frictional properties of faults under realistic earthquake slip velocities (0.1-10 m/s) and displacements (>20 m). However one technical limitation of rotary shear experiments at seismic slip rates has been the lack of confinement. This has led to a limit on the normal stress (due to the strength of the forcing blocks) and also a lack of control of measurements of the pore fluid pressure. Here we present the first preliminary results from a rotary shear apparatus that has been developed to attempt to address this issue. The new fully confined ring shear apparatus has a fast-acting servo-hydraulic confining pressure system of up to 200 MPa and a servo-controlled upstream and downstream pore pressure system of up to 200 MPa. Displacement rates of 0.01μ/s to 2 m/s can be achieved. Fault gouge samples can therefore be sheared at earthquake speed whilst being subject to pressures typically associated with the depth of earthquake nucleation.

Dynamic Response of Control Servo System Installed in NAES-Equipped SB2C-5 Airplane (BuAer No. 83135)

Science.gov (United States)

Smaus, Louis H.; Stewart, Elwood C.

1950-01-01

Dynamic--response measurements for various conditions of displacement and rate signal input, sensitivity setting, and simulated hinge moment were made of the three control-surface servo systems of an NAES-equipped remote-controlled airplane while on the ground. The basic components of the servo systems are those of the General Electric Company type G-1 autopilot using electrical signal. sources, solenoid-operated valves, and hydraulic pistons. The test procedures and difficulties are discussed, Both frequency and transient-response data, are presented and comparisons are made. The constants describing the servo system, the undamped natural frequency, and the damping ratio, are determined by several methods. The response of the system with the addition of airframe rate signal is calculated. The transfer function of the elevator surface, linkage, and cable system is obtained. The agreement between various methods of measurement and calculation is considered very good. The data are complete enough and in such form that they may be used directly with the frequency-response data of an airplane to predict the stability of the autopilot-airplane combination.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

Energy Technology Data Exchange (ETDEWEB)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

International Nuclear Information System (INIS)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon

2016-01-01

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control

A servo controlled gradient loading triaxial model test system for deep-buried cavern

Energy Technology Data Exchange (ETDEWEB)

Chen, Xu-guang [College of Engineering, Ocean University of China, Qingdao 266100 (China); Shandong Provincial Key Laboratory of Ocean Engineering, Qingdao 266100 (China); Research Center of Geotechnical and Structural Engineering, Shandong University, Jinan 250061 (China); Zhang, Qiang-yong; Li, Shu-cai [Research Center of Geotechnical and Structural Engineering, Shandong University, Jinan 250061 (China)

2015-10-15

A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the “real” geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

A servo controlled gradient loading triaxial model test system for deep-buried cavern.

Science.gov (United States)

Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

2015-10-01

A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the "real" geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures.

A servo controlled gradient loading triaxial model test system for deep-buried cavern

International Nuclear Information System (INIS)

Chen, Xu-guang; Zhang, Qiang-yong; Li, Shu-cai

2015-01-01

A servo controlled gradient loading model test system is developed to simulate the gradient geostress in deep-buried cavern. This system consists of the gradient loading apparatus, the digital servo control device, and the measurement system. Among them, the gradient loading apparatus is the main component which is used for exerting load onto the model. This loading apparatus is placed inside the counterforce wall/beam and is divided to several different loading zones, with each loading zone independently controlled. This design enables the gradient loading. Hence, the “real” geostress field surrounding the deep-buried cavern can be simulated. The loading or unloading process can be controlled by the human-computer interaction machines, i.e., the digital servo control system. It realizes the automation and visualization of model loading/unloading. In addition, this digital servo could control and regulate hydraulic loading instantaneously, which stabilizes the geostress onto the model over a long term. During the loading procedure, the collision between two adjacent loading platens is also eliminated by developing a guide frame. This collision phenomenon is induced by the volume shrinkage of the model when compressed in true 3D state. In addition, several accurate measurements, including the optical and grating-based method, are adopted to monitor the small deformation of the model. Hence, the distortion of the model could be accurately measured. In order to validate the performance of this innovative model test system, a 3D geomechanical test was conducted on a simulated deep-buried underground reservoir. The result shows that the radial convergence increases rapidly with the release of the stress in the reservoir. Moreover, the deformation increases with the increase of the gas production rate. This observation is consistence with field observation in petroleum engineering. The system is therefore capable of testing deep-buried engineering structures

Turbofan Volume Dynamics Model for Investigations of Aero-Propulso-Servo-Elastic Effects in a Supersonic Commercial Transport

Science.gov (United States)

Connolly, Joseph W.; Kopasakis, George; Lemon, Kimberly A.

2010-01-01

A turbofan simulation has been developed for use in aero-propulso-servo-elastic coupling studies, on supersonic vehicles. A one-dimensional lumped volume approach is used whereby each component (fan, high-pressure compressor, combustor, etc.) is represented as a single volume using characteristic performance maps and conservation equations for continuity, momentum and energy. The simulation is developed in the MATLAB/SIMULINK (The MathWorks, Inc.) environment in order to facilitate controls development, and ease of integration with a future aero-servo-elastic vehicle model being developed at NASA Langley. The complete simulation demonstrated steady state results that closely match a proposed engine suitable for a supersonic business jet at the cruise condition. Preliminary investigation of the transient simulation revealed expected trends for fuel flow disturbances as well as upstream pressure disturbances. A framework for system identification enables development of linear models for controller design. Utilizing this framework, a transfer function modeling an upstream pressure disturbance s impacts on the engine speed is developed as an illustrative case of the system identification. This work will eventually enable an overall vehicle aero-propulso-servo-elastic model

Robust control system for belt continuously variable transmission; Robust seigyo wo tekiyoshita mudan hensokuki no hensokuhi servo kei no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Adachi, K; Wakahara, T; Shimanaka, S; Yamamoto, M; Oshidari, T [Nissan Motor Co. Ltd., Tokyo (Japan)

1997-10-01

The continuously variable transmission control system consists of generation of a desired gear ratio and a servo gear ratio system. The servo gear ratio system must provide the desired response at all times without being influenced by external disturbances. These include oil pressure as well as variation in performance due to operating conditions or changes occurring with us. We have developed the servo gear ratio system incorporating a robust model matching method, which enables the belt continuously variable transmission to satisfy this performance requirement. 2 refs., 9 figs.

An approach for second order control with finite time convergence for electro-hydraulic drives

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2013-01-01

algorithm parameters. However a discontinuous term internally in the control structure may excite pressures of transmission lines in hydraulic drives as the control structure strives to maintain the control error and its derivative equal to zero. In this paper a modified version of a controller based......Being a second order sliding algorithm, the super twisting algorithm is highly attractive for application in control of hydraulic drives and mechanical systems in general, as it utilizes only the control error while driving the control error as well as its derivative to zero for properly chosen...... on the super twisting algorithm is proposed, with the focus of eliminating the discontinuous term in order to achieve a more smooth control operation. The convergence properties of the proposed controller are analyzed via a conservative phase plane analysis. Furthermore, homogeneity considerations imply finite...

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

1985-01-01

The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

Internal Leakage Fault Detection and Tolerant Control of Single-Rod Hydraulic Actuators

Directory of Open Access Journals (Sweden)

Jianyong Yao

2014-01-01

Full Text Available The integration of internal leakage fault detection and tolerant control for single-rod hydraulic actuators is present in this paper. Fault detection is a potential technique to provide efficient condition monitoring and/or preventive maintenance, and fault tolerant control is a critical method to improve the safety and reliability of hydraulic servo systems. Based on quadratic Lyapunov functions, a performance-oriented fault detection method is proposed, which has a simple structure and is prone to implement in practice. The main feature is that, when a prescribed performance index is satisfied (even a slight fault has occurred, there is no fault alarmed; otherwise (i.e., a severe fault has occurred, the fault is detected and then a fault tolerant controller is activated. The proposed tolerant controller, which is based on the parameter adaptive methodology, is also prone to realize, and the learning mechanism is simple since only the internal leakage is considered in parameter adaptation and thus the persistent exciting (PE condition is easily satisfied. After the activation of the fault tolerant controller, the control performance is gradually recovered. Simulation results on a hydraulic servo system with both abrupt and incipient internal leakage fault demonstrate the effectiveness of the proposed fault detection and tolerant control method.

Geothermal heat from solid rock - increased energy extraction through hydraulic pressurizing of drill wells

International Nuclear Information System (INIS)

Ramstad, Randi Kalskin; Hilmo, Bernt Olav; Skarphagen, Helge

2005-01-01

New equipment for hydraulic pressurizing, a double collar of the type FrakPak - AIP 410-550, is developed by the Broennteknologi AS. The equipment is tested in the laboratory and in the field at Lade in Trondheim. By the construction of two pilot plants for geothermal heat at Bryn and on the previous grounds of the energy company in Asker and Baerum (EAB) extensive studies connected to hydraulic pressurizing are carried out both with water and sand injection. The geothermal heat plants at Bryn and AEB were supposed to be based on pumped ground water from rock wells where increased effect was obtained through pumping up, returning and circulating the water. The aim of the study was to test and develop the methods for hydraulic pressurizing both with water and sand injection, document the effect of the various types of pressurizing as well as mapping the hydro- and rock geological conditions for this type of geothermal heat plants. In addition to stimulating 10 drill holes with hydraulic pressurizing with water and sand injection, the studies have carried out test pumping, water sampling, geophysical logging, measurements of alterations in the terrain, current and rock strain measurements and geothermal response tests. Furthermore an efficacy test and a theoretical model of the energy potential of the plants are carried out. The results from the pilot plant at Bryn show that the drill hole capacities are significantly increased both through hydraulic pressurizing with water and sand injection. There seems to be a greater need for sand as ''prepping agent'' or distance maker in cracks with high pressure resistance than in cracks with lower resistance. The grain size of the sand should be adapted to the resistance pressure and injection of coarser sand is recommended in cracks with lower resistance pressure. The rock strength and strain conditions determine the successes of hydraulic pressurizing at the reopening of existing or opening of new faults. Test pumping was

Analysis of High Speed Jets Produced by a Servo Tube Driven Liquid Jet Injector

Science.gov (United States)

Portaro, Rocco; Ng, Hoi Dick

2017-11-01

In today's healthcare environment many types of medication must be administered through the use of hypodermic needles. Although this practice has been in use for many years, drawbacks such as accidental needle stick injuries, transmission of deadly viruses and bio-hazardous waste are still present. This study focuses on improving a needle free technology known as liquid jet injection, through the implementation of a linear servo tube actuator for the construction of a fully closed loop liquid jet injection system. This device has the ability to deliver both micro- and macro- molecules, high viscosity fluids whilst providing real time control of the jet pressure profile for accurate depth and dispersion control. The experiments are conducted using a prototype that consists of a 3 kW servo tube actuator, coupled to a specially designed injection head allowing nozzle size and injection volume to be varied. The device is controlled via a high speed servo amplifier and FPGA. The high speed jets emanating from the injector are assessed via high speed photography and through the use of a force transducer. Preliminary results indicate that the system allows for accurate shaping of the jet pressure profile, making it possible to target different tissue depths/types accurately.

A parameter estimation for DC servo motor by using optimization process

International Nuclear Information System (INIS)

Arjoni Amir

2010-01-01

Modeling and simulation parameters of DC servo motor using Matlab Simulink software have been done. The objective to define the DC servo motor parameter estimation is to get DC servo motor parameter values (B, La, Ra, Km, J) which are significant value that can be used for actuation process of control systems. In the analysis of control systems DC the servo motor expressed by transfer function equation to make faster to be analyzed as a component of the actuator. To obtain the data model parameters and initial conditions of the DC servo motors is then carried out the processor modeling and simulation in which the DC servo motor combined with other components. To obtain preliminary data of the DC servo motor parameters as estimated venue, it is obtained from the data factory of the DC servo motor. The initial data parameters of the DC servo motor are applied for the optimization process by using nonlinear least square algorithm and minimize the cost function value so that the DC servo motors parameter values are obtained significantly. The result of the optimization process of the DC servo motor parameter values are B = 0.039881, J= 1.2608e-007, Km = 0.069648, La = 2.3242e-006 and Ra = 1.8837. (author)

JPRS Report (Erratum), Science & Technology, Japan, Selections from MITI White Paper on Industrial Technology Trends and Issues

Science.gov (United States)

1989-08-30

10.7 846 1.87 7 Nissan Motor Co. 1,550 4.5 950 1.63 8 Mitsubishi Electric 1,120 6.2 620 1.81 9 Mitsubishi Heavy 870 5.3 707 1.23 10 Mazda Motor ...14. Bore screws 15. Servo motors 16. Hydraulic pressure regulating valves C. Finished Goods and Systems 17. Optical-magnetic disks 18. 1/2-inch...Included in this area are such components as servo motors , semiconductor lasers, CCDs, and hydraulic control valves. B) The development of

Hydraulic testing in granite using the sinusoidal variation of pressure

International Nuclear Information System (INIS)

Black, J.H.; Holmes, D.C.; Noy, D.J.

1982-09-01

Access to two boreholes at the Carwynnen test site in Cornwall enabled the trial of a number of innovative approaches to the hydrogeology of fractured crystalline rock. These methods ranged from the use of seisviewer data to measure the orientation of fractures to the use of the sinusoidal pressure technique to measure directional hydraulic diffusivity. The testing began with a short programme of site investigation consisting of borehole caliper and seisviewer logging followed by some single borehole hydraulic tests. The single borehole hydraulic testing was designed to assess whether the available boreholes and adjacent rock were suitable for testing using the sinusoidal method. The main testing methods were slug and pulse tests and were analysed using the fissured porous medium analysis proposed in Barker and Black (1983). Derived hydraulic conductivity (K) ranged from 2 x 10 -12 m/sec to 5 x 10 -7 m/sec with one near-surface zone of high K being perceived in both boreholes. The results were of the form which is typical of fractured rock and indicated a combination of high fracture frequency and permeable granite matrix. The results are described and discussed. (author)

Study of pore pressure reaction on hydraulic fracturing

Science.gov (United States)

Trimonova, Mariia; Baryshnikov, Nikolay; Turuntaev, Sergey; Zenchenko, Evgeniy; Zenchenko, Petr

2017-04-01

We represent the results of the experimental study of the hydraulic fracture propagation influence on the fluid pore pressure. Initial pore pressure was induced by injection and production wells. The experiments were carried out according to scaling analysis based on the radial model of the fracture. All required geomechanical and hydrodynamical properties of a sample were derived from the scaling laws. So, gypsum was chosen as a sample material and vacuum oil as a fracturing fluid. The laboratory setup allows us to investigate the samples of cylindrical shape. It can be considered as an advantage in comparison with standard cubic samples, because we shouldn't consider the stress field inhomogeneity induced by the corners. Moreover, we can set 3D-loading by this setting. Also the sample diameter is big enough (43cm) for placing several wells: the fracturing well in the center and injection and production wells on two opposite sides of the central well. The experiment consisted of several stages: a) applying the horizontal pressure; b) applying the vertical pressure; c) water solution injection in the injection well with a constant pressure; d) the steady state obtaining; e) the oil injection in the central well with a constant rate. The pore pressure was recorded in the 15 points along bottom side of the sample during the whole experiment. We observe the pore pressure change during all the time of the experiment. First, the pore pressure changed due to water injection. Then we began to inject oil in the central well. We compared the obtained experimental data on the pore pressure changes with the solution of the 2D single-phase equation of pore-elasticity, and we found significant difference. The variation of the equation parameters couldn't help to resolve the discrepancy. After the experiment, we found that oil penetrated into the sample before and after the fracture initiation. This fact encouraged us to consider another physical process - the oil

Modeling, simulation, and identification of the servo pumps

Energy Technology Data Exchange (ETDEWEB)

Negoita, C G; Vasiliu, D; Vasiliu, Ne; Calinoiu, C, E-mail: claudia.negoita@gmail.co [Faculty of Power Engineering, University POLITEHNICA of Bucharest 313, Splaiul Independentei, Bucharest, 060042 (Romania)

2010-08-15

This paper contains the results of a systematic research on the steady-state behavior, and the transients occurring in a basic hydrostatic system containing a servo pump. The optimum structure of such a device working in given condition is found step by step, the synthesis stages are alternating with the analysis ones, in order to establish some general synthesis criteria, as well as for creating some images of the design parameters influence on the real system dynamic behavior. The dynamic computation of the servo pumps is based on the experimental researches carried out by the authors on the control force of the variable displacement axial piston pumps. The analysis takes into account the pressure feedback, the rigid or spring mechanical feedback or the electrical position feedback. The theoretical models are developed by AMESim (Advanced Modeling and Simulation Environment for Systems Engineering). The experimental tests were performed by the aid of LabVIEW software from National Instruments Corporation in the frame of a national certified laboratory set up by the aid of Parker Hannifin Corporation.

Electro-osmotic and pressure-driven flow of viscoelastic fluids in microchannels: Analytical and semi-analytical solutions

Science.gov (United States)

Ferrás, L. L.; Afonso, A. M.; Alves, M. A.; Nóbrega, J. M.; Pinho, F. T.

2016-09-01

In this work, we present a series of solutions for combined electro-osmotic and pressure-driven flows of viscoelastic fluids in microchannels. The solutions are semi-analytical, a feature made possible by the use of the Debye-Hückel approximation for the electrokinetic fields, thus restricted to cases with small electric double-layers, in which the distance between the microfluidic device walls is at least one order of magnitude larger than the electric double-layer thickness. To describe the complex fluid rheology, several viscoelastic differential constitutive models were used, namely, the simplified Phan-Thien-Tanner model with linear, quadratic or exponential kernel for the stress coefficient function, the Johnson-Segalman model, and the Giesekus model. The results obtained illustrate the effects of the Weissenberg number, the Johnson-Segalman slip parameter, the Giesekus mobility parameter, and the relative strengths of the electro-osmotic and pressure gradient-driven forcings on the dynamics of these viscoelastic flows.

Influence of flow force on the flapper of a water hydraulic servovalve; Suiatsu servo ben no flapper ni sayosuru ryutairyoku no eikyo

Energy Technology Data Exchange (ETDEWEB)

Urata, E. [Kanagawa University, Kanagawa (Japan). Faculty of Engineering; Yamashina, C. [Ebara Research Co. Ltd., Kanagawa (Japan)

1997-06-25

In this paper flow force due to nozzle flow and its influence on the flapper-nozzle system for water hydraulic servovalves are discussed. The flow force acting on the flapper is estimated using the momentum theory, and expressed as a function of the nozzle pressure and flapper-nozzle gap. Analysis shows that the double nozzle flapper gives a quasilinear characteristic to the relationship between the force on the flapper, the flapper gap and the spool velocity. The numerical result based on the theory is used to estimate accuracy of the classical linear approximation. The flow force reduces the magnitude of the change of the nozzle back pressures which drive the spool of the water hydraulic valve, because the input moment acting on the armature is resisted by the moment due to the flow force. Experimental verification of the theory is also given. 7 refs., 10 figs., 1 tab.

Thermal-Hydraulics analysis of pressurized water reactor core by using single heated channel model

Directory of Open Access Journals (Sweden)

Reza Akbari

2017-08-01

Full Text Available Thermal hydraulics of nuclear reactor as a basis of reactor safety has a very important role in reactor design and control. The thermal-hydraulic analysis provides input data to the reactor-physics analysis, whereas the latter gives information about the distribution of heat sources, which is needed to perform the thermal-hydraulic analysis. In this study single heated channel model as a very fast model for predicting thermal hydraulics behavior of pressurized water reactor core has been developed. For verifying the results of this model, we used RELAP5 code as US nuclear regulatory approved thermal hydraulics code. The results of developed single heated channel model have been checked with RELAP5 results for WWER-1000. This comparison shows the capability of single heated channel model for predicting thermal hydraulics behavior of reactor core.

Servo-controlled hind-limb electrical stimulation for short-term arterial pressure control.

Science.gov (United States)

Kawada, Toru; Shimizu, Shuji; Yamamoto, Hiromi; Shishido, Toshiaki; Kamiya, Atsunori; Miyamoto, Tadayoshi; Sunagawa, Kenji; Sugimachi, Masaru

2009-05-01

Autonomic neural intervention is a promising tool for modulating the circulatory system thereby treating some cardiovascular diseases. In 8 pentobarbital-anesthetized cats, it was examined whether the arterial pressure (AP) could be controlled by acupuncture-like hind-limb electrical stimulation (HES). With a 0.5-ms pulse width, HES monotonically reduced AP as the stimulus current increased from 1 to 5 mA, suggesting that the stimulus current could be a primary control variable. In contrast, the depressor effect of HES showed a nadir approximately 10 Hz in the frequency range between 1 and 100 Hz. Dynamic characteristics of the AP response to HES approximated a second-order low-pass filter with dead time (gain: -10.2 +/- 1.6 mmHg/mA, natural frequency: 0.040 +/- 0.004 Hz, damping ratio 1.80 +/- 0.24, dead time: 1.38 +/- 0.13 s, mean +/- SE). Based on these dynamic characteristics, a servo-controlled HES system was developed. When a target AP value was set at 20 mmHg below the baseline AP, the time required for the AP response to reach 90% of the target level was 38 +/- 10 s. The steady-state error between the measured and target AP values was 1.3 +/- 0.1 mmHg. Autonomic neural intervention by acupuncture-like HES might provide an additional modality to quantitatively control the circulatory system.

Development of BLDC Electric Motor Control System In Hydraulic Servo Drive Based on Variable Hydrostatic Transmission

Directory of Open Access Journals (Sweden)

O. I. Tarasov

2014-01-01

Full Text Available Modern robotic systems require the use of servo drives. Owing to encoder and negative feedback these drives ensure highly accurate motion parameters. In case of autonomous systems drives must also have high power characteristics. Moreover, in most cases, it was impossible to select the motor so that the speed and torque on its shaft were in compliance with those of required by the actuator. To match these parameters different types of reducers are used. The article justifies and considers a selection criterion of the gear ratios for such transmission. For clarity, there is an example of selecting a motor and a gear for above transmission, taking into account the proposed criterion. In addition, the article discusses the advantages of using hydrostatic transmission in the drive, which monitors the angular position of the output level, in comparison with a mechanical gearbox. Due to the fact that, at the moment, BLDC motors have the best power characteristics, such a servo drive requires a special control system that will take into account the features of variable hydrostatic transmission and electric BLDC motor. Therefore, the paper proposes a structure of such a system and set out the principles of its construction. Various embodiments of sensor types that may be used in this system and their installation scheme explained.

Digitalni servo sistem za upravljanje infracrvenim lokatorom

OpenAIRE

Aleksandar Viličić; Mirko Jezdimirović

2009-01-01

U radu je predstavljen digitalni servo sistem sa pogonskim elektromotorom koji zamenjuje postojeći elektrohidraulički servo pogon na uređaju za upravljanje IC lokatorom, koji obezbeđuje zahtevanu tačnost pozicioniranja i praćenja sa minimalnim brzinama.

Electro-osmotic flows inside triangular microchannels

International Nuclear Information System (INIS)

Vocale, P; Spiga, M; Geri, M; Morini, G L

2014-01-01

This work presents a numerical investigation of both pure electro-osmotic and combined electro-osmotic/pressure-driven flows inside triangular microchannels. A finite element analysis has been adopted to solve the governing equations for the electric potential and the velocity field, accounting for a finite thickness of the electric double layer. The influence of non-dimensional parameters such as the aspect ratio of the cross-section, the electrokinetic diameter and the ratio of the pressure force to the electric force on the flow behavior has been investigated. Numerical results point out that the velocity field is significantly influenced by the aspect ratio of the cross section and the electrokinetic diameter. More specifically, the aspect ratio plays an important role in determining the maximum volumetric flow rate, while the electrokinetic diameter is crucial to establishing the range of pressures that may be sustained by the electro-osmotic flow. Numerical results are also compared with two correlations available in the literature which enable to assess the volumetric flow rate and the pressure head for microchannels featuring a rectangular, a trapezoidal or an elliptical cross-section.

Interstitial hydraulic conductivity and interstitial fluid pressure for avascular or poorly vascularized tumors.

Science.gov (United States)

Liu, L J; Schlesinger, M

2015-09-07

A correct description of the hydraulic conductivity is essential for determining the actual tumor interstitial fluid pressure (TIFP) distribution. Traditionally, it has been assumed that the hydraulic conductivities both in a tumor and normal tissue are constant, and that a tumor has a much larger interstitial hydraulic conductivity than normal tissue. The abrupt transition of the hydraulic conductivity at the tumor surface leads to non-physical results (the hydraulic conductivity and the slope of the TIFP are not continuous at tumor surface). For the sake of simplicity and the need to represent reality, we focus our analysis on avascular or poorly vascularized tumors, which have a necrosis that is mostly in the center and vascularization that is mostly on the periphery. We suggest that there is an intermediary region between the tumor surface and normal tissue. Through this region, the interstitium (including the structure and composition of solid components and interstitial fluid) transitions from tumor to normal tissue. This process also causes the hydraulic conductivity to do the same. We introduce a continuous variation of the hydraulic conductivity, and show that the interstitial hydraulic conductivity in the intermediary region should be monotonically increasing up to the value of hydraulic conductivity in the normal tissue in order for the model to correspond to the actual TIFP distribution. The value of the hydraulic conductivity at the tumor surface should be the lowest in value. Copyright © 2015 Elsevier Ltd. All rights reserved.

Response of different injector typologies to dwell time variations and a hydraulic analysis of closely-coupled and continuous rate shaping injection schedules

International Nuclear Information System (INIS)

Ferrari, A.; Mittica, A.

2016-01-01

Highlights: • Direct and indirect acting injectors are tested considering multiple injections. • The injection fusion threshold is higher for ballistic injectors than for stroke-end limited injectors. • The internal dynamics of the injector is analyzed for closely-coupled double injections. • Different regimes are identified and classified in the short dwell time range. • Innovative rate shaping injection schedules are defined for solenoid injectors. - Abstract: The multiple injection performance of Common Rail injectors has been analyzed at a hydraulic test rig as the dwell time was varied. The dependence of the injected volume on the dwell time has been investigated for direct acting piezoelectric and hydraulically-controlled (or indirect-acting) servo injectors. The injected fuel volumes in the long dwell-time range have been shown to be affected by the pressure waves that travel along the high pressure circuit for hydraulically-controlled servo injectors. On the other hand, the influence of pressure-wave-induced disturbances on multiple injection performance has been shown to be negligible for direct acting piezoelectric injectors. An analysis of closely-coupled injections has been conducted on a solenoid injector. When the dwell time is progressively reduced below a critical value, an increase in the fuel quantity that is injected in the second shot is observed. Injection fusion phenomena occur as the dwell time is diminished below a certain threshold and a maximum in the fuel volume, which is injected during the joint injections, is eventually detected for a very short electric dwell time value close to 100 μs. The cycle-to-cycle dispersion around this dwell time value results to be reduced significantly. A previously developed 1D model of the fuel injection system has been applied to analyze the injector transients. Detailed knowledge of the injection dynamics in the short dwell time region is of fundamental importance to optimize the

Control system for the Fermilab Master-Slave servo manipulator

International Nuclear Information System (INIS)

Ducar, R.J.

1977-01-01

A control system for the Fermilab Master-Slave servo manipulator was developed. This new system offers a significant improvement in operational performance over the extant servo design with additional emphasis on simplicity of operation and maintainability. The servo manipulator is force-reflecting in each of the seven independent bilateral motions. Master force multiplication is automatically increased as the slave force is increased to its fifty pound capacity. The design incorporates triac control of the low inertia two-phase servomotors and makes extensive use of digital circuits in the servo loops. The manipulator is utilized in servicing radioactive beam-line targeting equipment

Study of Servo Press with a Flywheel

Science.gov (United States)

Tso, Pei-Lum; Li, Cheng-Ho

The servo press with a flywheel is able to provide flexible motions with energy-saving merit, but its true potential has not been thoroughly studied and verified. In this paper, such the “hybrid-driven” servo press is focused on, and the stamping capacity and the energy distribution between the flywheel and the servomotor are investigated. The capacity is derived based on the principle of energy conservation, and a method of using a capacity percentage plane for evaluation is proposed. A case study is included to illustrate and interpret that the stamping capacity is highly dependent on the programmed punch motions, thus the capacity prediction is always necessary while applying this kind of servo press. The energy distribution is validated by blanking experiments, and the results indicate that the servomotor needs only to provide 15% to the flywheel torque, 12% of the total stamping energy. This validates that the servomotor power is significantly saved in comparison with conventional servo presses.

Modeling Thermal Pressurization Around Shallow Dikes Using Temperature-Dependent Hydraulic Properties: Implications for Deformation Around Intrusions

Science.gov (United States)

Townsend, Meredith R.

2018-01-01

Pressurization and flow of groundwater around igneous intrusions depend in part on the hydraulic diffusivity of the host rocks and processes that enhance diffusivity, such as fracturing, or decrease diffusivity, such as mineral precipitation during chemical alteration. Characterizing and quantifying the coupled effects of alteration, pore pressurization, and deformation have significant implications for deformation around intrusions, geothermal energy, contact metamorphism, and heat transfer at mid-ocean ridges. Fractures around dikes at Ship Rock, New Mexico, indicate that pore pressures in the host rocks exceeded hydrostatic conditions by at least 15 MPa following dike emplacement. Hydraulic measurements and petrographic analysis indicate that mineral precipitation clogged the pores of the host rock, reducing porosity from 0.25 to reducing permeability by 5 orders of magnitude. Field data from Ship Rock are used to motivate and constrain numerical models for thermal pore fluid pressurization adjacent to a meter-scale dike, using temperature-dependent hydraulic properties in the host rock as a proxy for porosity loss by mineral precipitation during chemical alteration. Reduction in permeability by chemical alteration has a negligible effect on pressurization. However, reduction in porosity by mineral precipitation increases fluid pressure by constricting pore volume and is identified as a potentially significant source of pressure. A scaling relationship is derived to determine when porosity loss becomes important; if permeability is low enough, pressurization by porosity loss outweighs pressurization by thermal expansion of fluids.

In situ observation of high temperature tensile deformation and low cycle fatigue response in a nickel-base superalloy

Energy Technology Data Exchange (ETDEWEB)

Lu, Xudong, E-mail: lxdong0700@hotmail.com; Du, Jinhui; Deng, Qun

2013-12-20

High temperature tension and low cycle fatigue experiments of IN718 alloy have been performed in the electro-hydraulic servo system with scanning electron microscope at 455 °C. Fatigue crack initiation and propagation process are investigated in situ. Results show that the carbide and twin grain are the crack source of the low cycle fatigue of IN718 alloy, and the low cycle fatigue life of the alloy increases with the decrease in grain size.

Control rod drive hydraulic device

International Nuclear Information System (INIS)

Takekawa, Toru.

1994-01-01

The device of the present invention can reliably prevent a possible erroneous withdrawal of control rod driving mechanism when the pressure of a coolant line is increased by isolation operation of hydraulic control units upon periodical inspection for a BWR type reactor. That is, a coolant line is connected to the downstream of a hydraulic supply device. The coolant line is connected to a hydraulic control unit. A coolant hydraulic detection device and a pressure setting device are disposed to the coolant line. A closing signal line and a returning signal line are disposed, which connect the hydraulic supply device and a flow rate control valve for the hydraulic setting device. In the device of the present invention, even if pressure of supplied coolants is elevated due to isolation of hydraulic control units, the elevation of the hydraulic pressure can be prevented. Accordingly, reliability upon periodical reactor inspection can be improved. Further, the facility is simplified and the installation to an existent facility is easy. (I.S.)

The Study on the Measurement and Testing Technology of the HMCVT Hydraulic Pressure Based on the Data Fusion Technology

International Nuclear Information System (INIS)

Cheng, G W; Zhou, Z L; Men, Q Y; Deng, C N

2006-01-01

The pressure of the hydro-mechanical continuously variable transmission (HMCVT) is not only one of the major factors affecting the performance of the power train but also the major control parameter of the HMCVT control system. So how to improve the high accuracy hydraulic pressure parameter for the HMCVT control system will be one of the key technologies in system development. Based on the HMCVT test system for a certain tracked vehicle, the hydraulic pressure is studied, and multi-sensor data fusion technology based on Taylor polynomial regression equation is put forward, which turn out to improve the performance of the pressure sensor. Utilizing the above-mentioned method, the ability of antijamming of the hydraulic screen pressure system of the HMCVT is effectively improved, and the validity of the test data in the test system is improved too

Finite-time adaptive sliding mode force control for electro-hydraulic load simulator based on improved GMS friction model

Science.gov (United States)

Kang, Shuo; Yan, Hao; Dong, Lijing; Li, Changchun

2018-03-01

This paper addresses the force tracking problem of electro-hydraulic load simulator under the influence of nonlinear friction and uncertain disturbance. A nonlinear system model combined with the improved generalized Maxwell-slip (GMS) friction model is firstly derived to describe the characteristics of load simulator system more accurately. Then, by using particle swarm optimization (PSO) algorithm ​combined with the system hysteresis characteristic analysis, the GMS friction parameters are identified. To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model. This controller has the ability to ensure that the system state moves along the nonlinear sliding surface to steady state in a short time as well as good dynamic properties under the influence of parametric uncertainties and disturbance, which further improves the force loading accuracy and rapidity. At the end of this work, simulation and experimental results are employed to demonstrate the effectiveness of the proposed sliding mode control strategy.

Combined hydraulic and regenerative braking system

Science.gov (United States)

Venkataperumal, R.R.; Mericle, G.E.

1979-08-09

A combined hydraulic and regenerative braking system and method for an electric vehicle is disclosed. The braking system is responsive to the applied hydraulic pressure in a brake line to control the braking of the vehicle to be completely hydraulic up to a first level of brake line pressure, to be partially hydraulic at a constant braking force and partially regenerative at a linearly increasing braking force from the first level of applied brake line pressure to a higher second level of brake line pressure, to be partially hydraulic at a linearly increasing braking force and partially regenerative at a linearly decreasing braking force from the second level of applied line pressure to a third and higher level of applied line pressure, and to be completely hydraulic at a linearly increasing braking force from the third level to all higher applied levels of line pressure.

Concrete decontamination by electro-hydraulic scabbling (EHS). Final report

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-10-01

Contamination of concrete structures by radionuclides, hazardous metals and organic substances (including PCB`s) occurs at many DOE sites. The contamination of concrete structures (walls, floors, ceilings, etc.) varies in type, concentration, and especially depth of penetration into the concrete. In many instances, only the surface layer of concrete is contaminated, up to a depth of one inch, according to estimates provided in the R and D ID document. Then, removal of the concrete surface layer (scabbling) is considered to be the most effective decontamination method. Textron Systems Corp. (TSC) has developed a scabbling concept based on electro-mechanical phenomena accompanying strong electric pulses generated by applying high voltage at the concrete/water interface. Depending on the conditions, the electric discharge may occur either through a waste layer or through the concrete body itself. This report describes the development, testing, and results of this electro-mechanical process. Phase 1 demonstrated the feasibility of the process for the controlled removal of a thin layer of contaminated concrete. Phase 2 designed, fabricated, and tested an integrated subscale unit. This was tested at Fernald. In Phase 3, the scabbling unit was reconfigured to increase its power and processing rate. Technology transfer to an engineering contracting company is continuing.

Concrete decontamination by electro-hydraulic scabbling (EHS). Final report

International Nuclear Information System (INIS)

1997-10-01

Contamination of concrete structures by radionuclides, hazardous metals and organic substances (including PCB's) occurs at many DOE sites. The contamination of concrete structures (walls, floors, ceilings, etc.) varies in type, concentration, and especially depth of penetration into the concrete. In many instances, only the surface layer of concrete is contaminated, up to a depth of one inch, according to estimates provided in the R and D ID document. Then, removal of the concrete surface layer (scabbling) is considered to be the most effective decontamination method. Textron Systems Corp. (TSC) has developed a scabbling concept based on electro-mechanical phenomena accompanying strong electric pulses generated by applying high voltage at the concrete/water interface. Depending on the conditions, the electric discharge may occur either through a waste layer or through the concrete body itself. This report describes the development, testing, and results of this electro-mechanical process. Phase 1 demonstrated the feasibility of the process for the controlled removal of a thin layer of contaminated concrete. Phase 2 designed, fabricated, and tested an integrated subscale unit. This was tested at Fernald. In Phase 3, the scabbling unit was reconfigured to increase its power and processing rate. Technology transfer to an engineering contracting company is continuing

Study of Pneumatic Servo Loading System in Double-Sided Polishing

International Nuclear Information System (INIS)

Qian, N; Ruan, J; Li, W

2006-01-01

The precise double-sided polishing process is one of the main methods to get the ultra-smooth surface of workpiece. In double-sided polishing machine, a loading system is required to be able to precisely control the load superimposed on the workpiece, while the polishing is being carried out. A pneumatic servo loading system is proposed for this purpose. In the pneumatic servo system, the servo valve, which acts both the electrical to mechanical converter and the power amplifier, has a substantial influence on the performance of the loading system. Therefore a specially designed pneumatic digital servo valve is applied in the control system. In this paper, the construction of the pneumatic servo loading system in double-sided polishing machine and control strategy associated with the digital servo valve are first addressed. The mathematical model of the system established and the hardware of the pneumatic servo system is designed. Finally, the experiments are carried out by measuring the practical load on the workpiece and the quality of the surface finish. It is demonstrated that the error rate of load is less than 5% and a super-smooth surface of silicon wafer with roughness Ra 0.401 nm can be obtained

Modeling and controller design on ARX model of Electro-Hydrolic ...

African Journals Online (AJOL)

Electro-hydraulic actuator (EHA) is commonly used in industry for its linear movement, quick response and accurate positioning of heavy loads. However, the uncertainties, highly nonlinearities and time varying characteristic of EHA caused difficulties in controlling the system. This paper studies the performance of Fuzzy PID ...

Hierarchical high-pressure hydraulic system for a continuously variable transmission; Mudan hensokuki no kaisoshiki koyuatsu system no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Tominaga, M; Wakahara, T; Hiraoka, Y; Ishimori, Y [Nissan Motor Co. Ltd., Tokyo (Japan)

1997-10-01

A belt CVT system requires a large oil flow during shifts compared with a conventional automatic transmission. And the hydraulic pressure is higher for high-powered engines. As a result the oil pump is bigger and efficiency is lower(fuel consumption is higher). This system develops high pressure in three stages first reducing the hydraulic control system so that a small oil pump is attained. 8 figs.

Use of abrupt strain path change for determining subsequent yield surface

DEFF Research Database (Denmark)

Kuwabara, T.; Kuroda, M.; Tvergaard, Viggo

2000-01-01

. In a biaxial tensile testing apparatus, a cruciform specimen is used, with the strains measured by a biaxial-strain gauge. Then, with the hydraulic pressure of two sets of opposing hydraulic cylinders servo-controlled independently, the testing apparatus can be used to prescribe an abrupt change of the strain...

Phase-Division-Based Dynamic Optimization of Linkages for Drawing Servo Presses

Science.gov (United States)

Zhang, Zhi-Gang; Wang, Li-Ping; Cao, Yan-Ke

2017-11-01

Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage optimization and motion planning, a phase-division-based linkage-optimization model for a drawing servo press is established. Considering the motion-planning principles of a drawing servo press, and taking account of work rating and efficiency, the constraints of the optimization model are constructed. Linkage is optimized in two modes: use of either constant eccentric speed or constant slide speed in the work segments. The performances of optimized linkages are compared with those of a mature linkage SL4-2000A, which is optimized by a traditional method. The results show that the work rating of a drawing servo press equipped with linkages optimized by this new method improved and the root-mean-square torque of the servo motors is reduced by more than 10%. This research provides a promising method for designing energy-saving drawing servo presses with high work ratings.

Thermal hydraulic behavior of SCWR sliding pressure startup

International Nuclear Information System (INIS)

Fu Shengwei; Zhou Chong; Xu Zhihong; Yang Yanhua

2011-01-01

The modification to ATHLET-SC code is introduced in this paper, which realizes the simulation of trans-critical transients using two-phase model. With the modified code, the thermal-hydraulic dynamic behavior of the mixed SCWR core during the startup process is simulated. The startup process is similar to the design of SCLWR-H sliding pressure startup. The results show that maximum temperature of cladding-surface does not exceed 650℃ in the whole startup process, and the sudden change of water properties in the trans-critical transients will not cause harmful influence to the heat transfer of the fuel cladding. (authors)

IUSThrust Vector Control (TVC) servo system

Science.gov (United States)

Conner, G. E.

1979-01-01

The IUS TVC SERVO SYSTEM which consists of four electrically redundant electromechanical actuators, four potentiometer assemblies, and two controllers to provide movable nozzle control on both IUS solid rocket motors is developed. An overview of the more severe IUS TVC servo system design requirements, the system and component designs, and test data acquired on a preliminary development unit is presented. Attention is focused on the unique methods of sensing movable nozzle position and providing for redundant position locks.

Position Control of Servo Systems Using Feed-Forward Friction Compensation

International Nuclear Information System (INIS)

Park, Min Gyu; Kim, Han Me; Shin, Jong Min; Kim, Jong Shik

2009-01-01

Friction is an important factor for precise position tracking control of servo systems. Servo systems with highly nonlinear friction are sensitive to the variation of operating condition. To overcome this problem, we use the LuGre friction model which can consider dynamic characteristics of friction. The LuGre friction model is used as a feed-forward compensator to improve tracking performance of servo systems. The parameters of the LuGre friction model are identified through experiments. The experimental result shows that the tracking performance of servo systems with higherly nonlinear friction can be improved by using feed-forward friction compensation

Dual arm master controller for a bilateral servo-manipulator

Science.gov (United States)

Kuban, Daniel P.; Perkins, Gerald S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

Study on a linear relationship between limited pressure difference and coil current of on/off valve and its influential factors.

Science.gov (United States)

Zhang, Junzhi; Lv, Chen; Yue, Xiaowei; Li, Yutong; Yuan, Ye

2014-01-01

On/off solenoid valves with PWM control are widely used in all types of vehicle electro-hydraulic control systems respecting to their desirable properties of reliable, low cost and fast acting. However, it can hardly achieve a linear hydraulic modulation by using on/off valves mainly due to the nonlinear behaviors of valve dynamics and fluid, which affects the control accuracy significantly. In this paper, a linear relationship between limited pressure difference and coil current of an on/off valve in its critical closed state is proposed and illustrated, which has a great potential to be applied to improve hydraulic control performance. The hydraulic braking system of case study is modeled. The linear correspondence between limited pressure difference and coil current of the inlet valve is simulated and further verified experimentally. Based on validated simulation models, the impacts of key parameters are researched. The limited pressure difference affected by environmental temperatures is experimentally studied, and the amended linear relation is given according to the test data. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Fault Detection for a Diesel Engine Actuator

DEFF Research Database (Denmark)

Blanke, M.; Bøgh, S.A.; Jørgensen, R.B.

1995-01-01

An electro-mechanical position servo is introduced as a benchmark for mode-based Fault Detection and Identification (FDI).......An electro-mechanical position servo is introduced as a benchmark for mode-based Fault Detection and Identification (FDI)....

Fracture toughness of irradiated Zr-2.5Nb pressure tube from KAPS-2 evaluated using disk compact tension specimens

International Nuclear Information System (INIS)

Shah, Priti Kotak; Dubey, J.S.; Balakrishnan, K.S.; Shriwastaw, R.S.; Dhotre, M.P.; Bhandekar, A.; Pandit, K.M.; Anantharaman, S.

2013-12-01

The report gives the results of the fracture toughness tests carried out over the range of temperatures on specimens prepared from the irradiated S-07Zr-2.5Nb pressure tube removed from Kakrapar Atomic Power Station-2 (KAPS-2) as a part of materials surveillance programme. The pressure tube had experienced ∼ 8 effective full power years (EFPY) of reactor operation and had hydrogen equivalent (H eq ) content less than 20 ppm along the tube length. The fracture toughness tests have been carried out using 30 mm Disk Compact Tension (DCT) specimens, that were punched out of the irradiated pressure tube. The disk punching was carried out using specially made shielded enclosure and hydraulic press. Fatigue pre-cracking and fracture toughness tests were performed using servo-hydraulic universal testing machine with Direct Current Potential Drop (DCPD) equipment to monitor the crack length. The tests were carried out at different test temperature from ambient to 300℃. The fracture toughness values have been used to estimate the critical pressure for the tube. The fracture properties indicate that such tubes have sufficient toughness to satisfy the Leak-Before-Break (LBB) criterion for in-reactor operation. (author)

Effectiveness of Sealed Double-Ring Infiltrometers trademark and effects of changes in atmospheric pressure on hydraulic conductivity

International Nuclear Information System (INIS)

McMullin, S.R.

1994-01-01

The Savannah River Site is currently evaluating some 40 hazardous and radioactive-waste sites for remediation. Among the remedial alternatives considered is closure using a kaolin clay cap. The hydraulic conductivity suggested by the US Environmental Protection Agency is 1.0 x 10 -7 cm/sec. One instrument to measure this value is the Sealed Double-Ring Infiltrometer trademark (SDRI). Six SDRI were recently installed on a kaolin test cap. Test results demonstrated uniform performance of these instruments. However, the test data showed as much as an order of magnitude of variation over time. This variation is attributed to both internal structural heterogeneity and variable external boundary conditions. The internal heterogeneity is caused by construction variability within a specified range of moisture and density. The external influences considered are temperature and barometric pressure. Temperature was discharged as a source of heterogeneity because of a lack of correlation with test data and a negligible impact from the range of variability. However, a direct correlation was found between changes in barometric pressure and hydraulic conductivity. This correlation is most pronounced when pressure changes occur over a short period of time. Additionally, this correlation is related to a single soil layer. When the wetting front passes into a more porous foundation layer, the correlation with pressure changes disappears. Conclusions are that the SDRI performs adequately, with good repeatability of results. The duration of test is critical to assure a statistically valid data set. Data spikes resulting from pressure changes should be identified, and professional judgment used to determine the representative hydraulic conductivity. Further evaluation is recommended to determine the impact of pressure change on the actual hydraulic conductivity

The kinematics of the rigid feedback linkage, the impedance of the hydraulic servomechanism and the flutter occurrence

Directory of Open Access Journals (Sweden)

Ioan URSU

2012-09-01

Full Text Available The paper brought to light a previous result of the author, used in the design of hydraulicservos actuating flight controls of the airplanes IAR 93 and IAR 99. The results highlights theimportance of the the kinematics of the rigid feedback linkage of the hydraulic servo in anaeroservoelastic frame.

Dual arm master controller for a bilateral servo-manipulator

International Nuclear Information System (INIS)

Kuban, D.P.; Perkins, G.S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences there between. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed. 13 figs

Electro-chemical grinding

Science.gov (United States)

Feagans, P. L.

1972-01-01

Electro-chemical grinding technique has rotation speed control, constant feed rates, and contour control. Hypersonic engine parts of nickel alloys can be almost 100% machined, keeping tool pressure at virtual zero. Technique eliminates galling and permits constant surface finish and burr-free interrupted cutting.

What is the Optimal Strategy for Adaptive Servo-Ventilation Therapy?

Science.gov (United States)

Imamura, Teruhiko; Kinugawa, Koichiro

2018-05-23

Clinical advantages in the adaptive servo-ventilation (ASV) therapy have been reported in selected heart failure patients with/without sleep-disorder breathing, whereas multicenter randomized control trials could not demonstrate such advantages. Considering this discrepancy, optimal patient selection and device setting may be a key for the successful ASV therapy. Hemodynamic and echocardiographic parameters indicating pulmonary congestion such as elevated pulmonary capillary wedge pressure were reported as predictors of good response to ASV therapy. Recently, parameters indicating right ventricular dysfunction also have been reported as good predictors. Optimal device setting with appropriate pressure setting during appropriate time may also be a key. Large-scale prospective trial with optimal patient selection and optimal device setting is warranted.

Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

International Nuclear Information System (INIS)

Nieminen, Peetu; Esque, Salvador; Muhammad, Ali; Mattila, Jouni; Vaeyrynen, Jukka; Siuko, Mikko; Vilenius, Matti

2009-01-01

Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

Science.gov (United States)

Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

The main features of control and operation of steam turbines at nuclear power plants

International Nuclear Information System (INIS)

Czinkoczky, B.

1981-01-01

The output and speed control of steam turbines at nuclear power plants as well as the combination of both controls are reviewed and evaluated. At the same time the tasks of unit control at nuclear power plants, the control of steady main steam pressure and medium pressure of primary circuit, further the connection of reactor and turbine controls and the self-controlling properties of pressurized water reactor are dealt with. Hydraulic and electro-hydraulic speed control, the connection of cach-up dampers and speed control and the application of electro-hydraulic signal converters are discussed. The accomplishment of protection is also described. (author)

Calculation and analysis of thermal–hydraulics fluctuations in pressurized water reactors

International Nuclear Information System (INIS)

Malmir, Hessam; Vosoughi, Naser

2015-01-01

Highlights: • Single-phase thermal–hydraulics noise equations are originally derived in the frequency domain. • The fluctuations of all the coolant parameters are calculated, without any simplifying assumptions. • The radial distribution of the temperature fluctuations in the fuel, gap and cladding are taken into account. • The closed-loop calculations are performed by means of the point kinetics noise theory. • Both the space- and frequency-dependence of the thermal–hydraulics fluctuations are analyzed. - Abstract: Analysis of thermal–hydraulics fluctuations in pressurized water reactors (e.g., local and global temperature or density fluctuations, as well as primary and charging pumps fluctuations) has various applications in calculation or measurement of the core dynamical parameters (temperature or density reactivity coefficients) in addition to thermal–hydraulics surveillance and diagnostics. In this paper, the thermal–hydraulics fluctuations in PWRs are investigated. At first, the single-phase thermal–hydraulics noise equations (in the frequency domain) are originally derived, without any simplifying assumptions. The fluctuations of all the coolant parameters, as well as the radial distribution of the temperature fluctuations in the fuel, gap and cladding are taken into account. Then, the derived governing equations are discretized using the finite volume method (FVM). Based on the discretized equations and the proposed algorithm of solving, a single heated channel noise calculation code (SHC-Noise) is developed, by which the steady-state and fluctuating parameters of PWR fuel assemblies can be calculated. The noise sources include the inlet coolant temperature and velocity fluctuations, in addition to the power density noises. The developed SHC-Noise code is benchmarked in different cases and scenarios. Furthermore, to show the effects of the power feedbacks, the closed-loop calculations are performed by means of the point kinetics noise

Hydraulic Hybrid Fleet Vehicle Testing | Transportation Research | NREL

Science.gov (United States)

Hydraulic Hybrid Fleet Vehicle Evaluations Hydraulic Hybrid Fleet Vehicle Evaluations How Hydraulic Hybrid Vehicles Work Hydraulic hybrid systems can capture up to 70% of the kinetic energy that would -pressure reservoir to a high-pressure accumulator. When the vehicle accelerates, fluid in the high-pressure

Hydraulic Shearing and Hydraulic Jacking Observed during Hydraulic Stimulations in Fractured Geothermal Reservoir in Pohang, Korea

Science.gov (United States)

Min, K. B.; Park, S.; Xie, L.; Kim, K. I.; Yoo, H.; Kim, K. Y.; Choi, J.; Yoon, K. S.; Yoon, W. S.; Lee, T. J.; Song, Y.

2017-12-01

Enhanced Geothermal System (EGS) relies on sufficient and irreversible enhancement of reservoir permeability through hydraulic stimulation and possibility of such desirable change of permeability is an open question that can undermine the universality of EGS concept. We report results of first hydraulic stimulation campaign conducted in two deep boreholes in fractured granodiorite geothermal reservoir in Pohang, Korea. Borehole PX-1, located at 4.22 km, was subjected to the injection of 3,907 m3 with flow rate of up to 18 kg/s followed by bleeding off of 1,207 m3. The borehole PX-2, located at 4.35 km, was subjected to the injection of 1,970 m3 with flow rate of up to 46 kg/sIn PX-1, a sharp distinct decline of wellhead pressure was observed at around 16 MPa of wellhead pressure which was similar to the predicted injection pressure to induce hydraulic shearing. Injectivity interpretation before and after the hydraulic shearing indicates that permanent increase of permeability was achieved by a factor of a few. In PX-2, however, injectivity was very small and hydraulic shearing was not observed due possibly to the near wellbore damage made by the remedying process of lost circulation such as using lost circulation material during drilling. Flow rate of larger than 40 kg/s was achieved at very high well head pressure of nearly 90 MPa. Hydraulic jacking, that is reversible opening and closure of fracture with change of injection pressure, was clearly observed. Although sharp increase of permeability due to fracture opening was achieved with elevated injection pressure, the increased permeability was reversed with decreased injection pressure.Two contrasting response observed in the same reservoir at two different boreholes which is apart only 600 m apart provide important implication that can be used for the stimulation strategy for EGS.This work was supported by the New and Renewable Energy Technology Development Program of the Korea Institute of Energy Technology

Systematic approach to development of pressure sensors using dielectric electro-active polymer membranes

International Nuclear Information System (INIS)

York, A; Seelecke, S; Dunn, J

2013-01-01

Dielectric electro-active polymers (DEAPs) have become attractive materials for various actuation and sensing applications due to their high energy and power density, high efficiency, light weight, and fast response speed. However, commercial development has been hindered due to a variety of constraints such as reliability, non-linear behavior, cost of driving electronics, and form factor requirements. This paper presents the systematic development from laboratory concept to commercial readiness of a novel pressure sensing system using a DEAP membrane. The pressure sensing system was designed for in-line pressure measurements for low pressure applications such as health systems monitoring. A first generation sensor was designed, built and tested with a focus on the qualitative capabilities of EAP membranes as sensors. Experimental measurements were conducted that demonstrated the capability of the sensor to output a voltage signal proportional to a changing pressure. Several undesirable characteristics were observed during these initial tests such as strong hysteresis, non-linearity, very limited pressure range, and low fatigue life. A second generation prototype was then designed to remove or compensate for these undesirable characteristics. This prototype was then built and tested. The new design showed an almost complete removal of hysteretic non-linear effects and was capable of operating at 10 × the pressure range of the initial generation. This new design is the framework for a novel DEAP based pressure sensor ready for commercial applications. (paper)

Fuzzy robust nonlinear control approach for electro-hydraulic flight motion simulator

Directory of Open Access Journals (Sweden)

Han Songshan

2015-02-01

Full Text Available 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.

Removal of PAHs from contaminated calyey soil by means of electro-osmosis

NARCIS (Netherlands)

Lima, A.T.; Kleingeld, P.J.; Heister, K.; Loch, J.P.G.

2011-01-01

The removal of polycyclic aromatic hydrocarbons (PAHs) from clayey soils is an intricate task. The low porosity of compacted clayey soil hinders bacterial activity and makes convective removal by hydraulic flow impossible. Electro-osmosis is a process that has been used for the mobilization and

Hydraulic lifter of a drilling unit

Energy Technology Data Exchange (ETDEWEB)

Velikovskiy, L S; Demin, A V; Shadchinov, L M

1979-01-08

The invention refers to drilling equipment, in particular, devices for lowering and lifting operations during drilling. A hydraulic lifter of the drilling unit is suggested which contains a hydraulic cylinder, pressure line and hollow plunger whose cavities are hydraulically connected. In order to improve the reliability of the hydraulic lifter by balancing the forces of compression in the plunger of the hydraulic cylinder, a closed vessel is installed inside the plunger and rigidly connected to its ends. Its cavity is hydraulically connected to the pressure line.

Safety of 5 MW district heating reactor (DHR) and hydraulic dynamic pressure drive control rods

International Nuclear Information System (INIS)

Wu Yuanqiang; Wang Dazhong

1991-11-01

The principles and movement characteristic of the hydraulic dynamic pressure drive for control rods in 5 MW district heating reactor are described with stress on analysis of its effects on reactor safety features. The drive is different from electric-magnetic drive for PWR or hydraulic drive for BWR. The drive cylinder is driven by dynamic pressure. In the new drive system, the reactor coolant (water) used as actuating medium is pressed by pump, then injected into a step cylinder which is set in the reactor core. The cylinder will move step by step by controlling flow, then the cylinder drives the neutron absorber and controls nuclear reaction. The drive is characterized by simplicity in structure, high reliability, inherent safety, reduction in reactor height, economy, etc

Robust hydraulic position controller by a fuzzy state controller

International Nuclear Information System (INIS)

Zhao, T.; Van der Wal, A.J.

1994-01-01

In nuclear industry, one of the most important design considerations of controllers is their robustness. Robustness in this context is defined as the ability of a system to be controlled in a stable way over a wide range of system parameters. Generally the systems to be controlled are linearized, and stability is subsequently proven for this idealized system. By combining classical control theory and fuzzy set theory, a new kind of state controller is proposed and successfully applied to a hydraulic position servo with excellent robustness against variation of system parameters

Direct drive digital servo press with high parallel control

Science.gov (United States)

Murata, Chikara; Yabe, Jun; Endou, Junichi; Hasegawa, Kiyoshi

2013-12-01

Direct drive digital servo press has been developed as the university-industry joint research and development since 1998. On the basis of this result, 4-axes direct drive digital servo press has been developed and in the market on April of 2002. This servo press is composed of 1 slide supported by 4 ball screws and each axis has linearscale measuring the position of each axis with high accuracy less than μm order level. Each axis is controlled independently by servo motor and feedback system. This system can keep high level parallelism and high accuracy even with high eccentric load. Furthermore the 'full stroke full power' is obtained by using ball screws. Using these features, new various types of press forming and stamping have been obtained by development and production. The new stamping and forming methods are introduced and 'manufacturing' need strategy of press forming with high added value and also the future direction of press forming are also introduced.

Design of an Image-Servo Mask Alignment System Using Dual CCDs with an XXY Stage

Directory of Open Access Journals (Sweden)

Chih-Jer Lin

2016-02-01

Full Text Available Mask alignment of photolithography technology is used in many applications, such as micro electro mechanical systems’ semiconductor process, printed circuits board, and flat panel display. As the dimensions of the product are getting smaller and smaller, the automatic mask alignment of photolithography is becoming more and more important. The traditional stacked XY-Θz stage is heavy and it has cumulative flatness errors due to its stacked assembly mechanism. The XXY stage has smaller cumulative error due to its coplanar design and it can move faster than the traditional XY-Θz stage. However, the relationship between the XXY stage’s movement and the commands of the three motors is difficult to compute, because the movements of the three motors on the same plane are coupling. Therefore, an artificial neural network is studied to establish a nonlinear mapping from the desired position and orientation of the stage to three motors’ commands. Further, this paper proposes an image-servo automatic mask alignment system, which consists of a coplanar XXY stage, dual GIGA-E CCDs with lens and a programmable automatic controller (PAC. Before preforming the compensation, a self-developed visual-servo provides the positioning information which is obtained from the image processing and pattern recognition according to the specified fiducial marks. To obtain better precision, two methods including the center of gravity method and the generalize Hough Transformation are studied to correct the shift positioning error.

Education for hydraulics and pneumatics in Nihon University; Nihon Daigaku ni okeru yukuatsu kyoiku

Energy Technology Data Exchange (ETDEWEB)

Ouchi, M. [Nihon Univ., Chiba (Japan). Coll. of Industrial Technology

2000-03-15

Described herein is education of hydraulics and pneumatics in Nihon University. Department of Mechanical Engineering of Faculty of Production Engineering has been holding up the educational aims of bringing up engineers and researchers who have ability and intelligence to cope with internationalization and contribute to society, and of bringing about creativity, among others. Control equipment is an optional subject for the sophomore class in the second semester, and is centered by mechatronics, including hydraulic and pneumatic control systems and equipment. The related subjects include fluid dynamics, control engineering, system controlling, hydraulic machines, robotics and automobile engineering. The drill course includes disassembling and assembling gear pumps, drills on pneumatic devices, system behavior and mechatronics, experiments on fan and hydraulic control circuits and on servo mechanisms, and machinery designs and drawings. Seminars are led by full-time or part-time lecturers for the themes related to hydraulic power. Many students are interested in hydraulic and pneumatic themes for their graduation theses, because of their relations with control, environments, energy saving and so on. We are now in the age of composite technologies, and hydraulic power basics are prerequisite for engineers, and important for education of students. (NEDO)

Aerial Object Following Using Visual Fuzzy Servoing

OpenAIRE

Olivares Méndez, Miguel Ángel; Mondragon Bernal, Ivan Fernando; Campoy Cervera, Pascual; Mejias Alvarez, Luis; Martínez Luna, Carol Viviana

2011-01-01

This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the color information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintai...

Vision servo of industrial robot: A review

Science.gov (United States)

Zhang, Yujin

2018-04-01

Robot technology has been implemented to various areas of production and life. With the continuous development of robot applications, requirements of the robot are also getting higher and higher. In order to get better perception of the robots, vision sensors have been widely used in industrial robots. In this paper, application directions of industrial robots are reviewed. The development, classification and application of robot vision servo technology are discussed, and the development prospect of industrial robot vision servo technology is proposed.

A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads

Directory of Open Access Journals (Sweden)

Hao-Ting Lin

2017-06-01

Full Text Available This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

A Novel Real-Time Path Servo Control of a Hardware-in-the-Loop for a Large-Stroke Asymmetric Rod-Less Pneumatic System under Variable Loads.

Science.gov (United States)

Lin, Hao-Ting

2017-06-04

This project aims to develop a novel large stroke asymmetric pneumatic servo system of a hardware-in-the-loop for path tracking control under variable loads based on the MATLAB Simulink real-time system. High pressure compressed air provided by the air compressor is utilized for the pneumatic proportional servo valve to drive the large stroke asymmetric rod-less pneumatic actuator. Due to the pressure differences between two chambers, the pneumatic actuator will operate. The highly nonlinear mathematical models of the large stroke asymmetric pneumatic system were analyzed and developed. The functional approximation technique based on the sliding mode controller (FASC) is developed as a controller to solve the uncertain time-varying nonlinear system. The MATLAB Simulink real-time system was a main control unit of a hardware-in-the-loop system proposed to establish driver blocks for analog and digital I/O, a linear encoder, a CPU and a large stroke asymmetric pneumatic rod-less system. By the position sensor, the position signals of the cylinder will be measured immediately. The measured signals will be viewed as the feedback signals of the pneumatic servo system for the study of real-time positioning control and path tracking control. Finally, real-time control of a large stroke asymmetric pneumatic servo system with measuring system, a large stroke asymmetric pneumatic servo system, data acquisition system and the control strategy software will be implemented. Thus, upgrading the high position precision and the trajectory tracking performance of the large stroke asymmetric pneumatic servo system will be realized to promote the high position precision and path tracking capability. Experimental results show that fifth order paths in various strokes and the sine wave path are successfully implemented in the test rig. Also, results of variable loads under the different angle were implemented experimentally.

CLFs-based optimization control for a class of constrained visual servoing systems.

Science.gov (United States)

Song, Xiulan; Miaomiao, Fu

2017-03-01

In this paper, we use the control Lyapunov function (CLF) technique to present an optimized visual servo control method for constrained eye-in-hand robot visual servoing systems. With the knowledge of camera intrinsic parameters and depth of target changes, visual servo control laws (i.e. translation speed) with adjustable parameters are derived by image point features and some known CLF of the visual servoing system. The Fibonacci method is employed to online compute the optimal value of those adjustable parameters, which yields an optimized control law to satisfy constraints of the visual servoing system. The Lyapunov's theorem and the properties of CLF are used to establish stability of the constrained visual servoing system in the closed-loop with the optimized control law. One merit of the presented method is that there is no requirement of online calculating the pseudo-inverse of the image Jacobian's matrix and the homography matrix. Simulation and experimental results illustrated the effectiveness of the method proposed here. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

The impact of hydraulic flow unit & reservoir quality index on pressure profile and productivity index in multi-segments reservoirs

Directory of Open Access Journals (Sweden)

Salam Al-Rbeawi

2017-12-01

Full Text Available The objective of this paper is studying the impact of the hydraulic flow unit and reservoir quality index (RQI on pressure profile and productivity index of horizontal wells acting in finite reservoirs. Several mathematical models have been developed to investigate this impact. These models have been built based on the pressure distribution in porous media, depleted by a horizontal well, consist of multi hydraulic flow units and different reservoir quality index. The porous media are assumed to be finite rectangular reservoirs having different configurations and the wellbores may have different lengths. Several analytical models describing flow regimes have been derived wherein hydraulic flow units and reservoir quality index have been included in addition to rock and fluid properties. The impact of these two parameters on reservoir performance has also been studied using steady state productivity index.It has been found that both pressure responses and flow regimes are highly affected by the existence of multiple hydraulic flow units in the porous media and the change in reservoir quality index for these units. Positive change in the RQI could lead to positive change in both pressure drop required for reservoir fluids to move towards the wellbore and hence the productivity index.

Hydraulic design of Three Gorges right bank powerhouse turbine for improvement of hydraulic stability

International Nuclear Information System (INIS)

Shi, Q

2010-01-01

This paper presents the hydraulic design of Three Gorges Right Bank Powerhouse turbine for improvement of hydraulic stability. The technical challenges faced in the hydraulic design of the turbine are given. The method of hydraulic design for improving the hydraulic stability and particularly for eliminating the upper part load pressure pulsations is clarified. The final hydraulic design results of Three Gorges Right Bank Powerhouse turbine based on modern hydraulic design techniques are presented.

Hydraulic design of Three Gorges right bank powerhouse turbine for improvement of hydraulic stability

Energy Technology Data Exchange (ETDEWEB)

Shi, Q, E-mail: qhshi@dfem.com.c [Dong Fang Electrical Machinery Co., Ltd., DEC 188, Huanghe West Road, Deyang, 618000 (China)

2010-08-15

This paper presents the hydraulic design of Three Gorges Right Bank Powerhouse turbine for improvement of hydraulic stability. The technical challenges faced in the hydraulic design of the turbine are given. The method of hydraulic design for improving the hydraulic stability and particularly for eliminating the upper part load pressure pulsations is clarified. The final hydraulic design results of Three Gorges Right Bank Powerhouse turbine based on modern hydraulic design techniques are presented.

16 CFR 1610.5 - Test apparatus and materials.

Science.gov (United States)

2010-01-01

... impingement and timing device. Electro-mechanical devices (i.e., servo-motors, solenoids, micro-switches, and... grid rack is attached. (See Figure 1 of this part.) (vii) Stop weight. The weight, attached by means of... electro-mechanical devices (i.e., servo-motors, solenoids, micro-switches, and electronic circuits, in...

Servo Platform Circuit Design of Pendulous Gyroscope Based on DSP

Science.gov (United States)

Tan, Lilong; Wang, Pengcheng; Zhong, Qiyuan; Zhang, Cui; Liu, Yunfei

2018-03-01

In order to solve the problem when a certain type of pendulous gyroscope in the initial installation deviation more than 40 degrees, that the servo platform can not be up to the speed of the gyroscope in the rough north seeking phase. This paper takes the digital signal processor TMS320F28027 as the core, uses incremental digital PID algorithm, carries out the circuit design of the servo platform. Firstly, the hardware circuit is divided into three parts: DSP minimum system, motor driving circuit and signal processing circuit, then the mathematical model of incremental digital PID algorithm is established, based on the model, writes the PID control program in CCS3.3, finally, the servo motor tracking control experiment is carried out, it shows that the design can significantly improve the tracking ability of the servo platform, and the design has good engineering practice.

Designing compensator of dual servo system for high precision positioning

International Nuclear Information System (INIS)

Choi, Hyeun Seok; Song, Chi Woo; Han, Chang Soo; Choi, Tae Hoon; Lee, Nak Kyu; Na, Kyung Hwan

2003-01-01

The high precision positioning mechanism is used in various industrial fields. It is used in semiconductor manufacturing line, test instrument, bioengineering, and MEMS and so on. This paper presents a positioning mechanism with dual servo system. Dual servo system consists of a coarse stage and a fine motion stage. The course stage is driven by VCM and the actuator of fine stage is the PZT. The purposes of dual servo system are stability, higher bandwidth, and robustness. Lead compensator is applied to this control system, and is designed by PQ method. Designed compensator can improve property of positioning mechanism

Evaluation of the sensitivity of electro-acoustic measurements for process monitoring and control of an atmospheric pressure plasma jet system

Energy Technology Data Exchange (ETDEWEB)

Law, V J [Dublin City University, National Centre of Plasma Science and Technology, Collins Avenue, Glasnevin, Dublin 9, Dublin (Ireland); O' Neill, F T; Dowling, D P, E-mail: vic.law@dcu.ie [School Mechanical and Materials Engineering, University College Dublin, Belfield, Dublin 4 (Ireland)

2011-06-15

The development of non-invasive process diagnostic techniques for the control of atmospheric plasmas is a critical issue for the wider adoption of this technology. This paper evaluates the use of a frequency-domain deconvolution of an electro-acoustic emission as a means to monitor and control the plasma formed using an atmospheric pressure plasma jet (APPJ) system. The air plasma system investigated was formed using a PlasmaTreat(TM) OpenAir applicator. Change was observed in the electro-acoustic signal with changes in substrate type (ceramic, steel, polymer). APPJ nozzle to substrate distance and substrate feature size were monitored. The decoding of the electro-acoustic emission yields three subdatasets that are described by three separate emission mechanisms. The three emissions are associated with the power supply fundamental drive frequency and its harmonics, the APPJ nozzle longitudinal mode acoustic emission and its odd overtones, and the acoustic surface reflection that is produced by the impedance mismatch between the discharge and the surface. Incorporating this knowledge into a LabVIEW program facilitated the continuous deconvolution of the electro-acoustic data. This enabled the use of specific frequency band test limits to control the APPJ treatment process which is sensitive to both plasma processing conditions and substrate type and features.

Thermally Actuated Hydraulic Pumps

Science.gov (United States)

Jones, Jack; Ross, Ronald; Chao, Yi

2008-01-01

Thermally actuated hydraulic pumps have been proposed for diverse applications in which direct electrical or mechanical actuation is undesirable and the relative slowness of thermal actuation can be tolerated. The proposed pumps would not contain any sliding (wearing) parts in their compressors and, hence, could have long operational lifetimes. The basic principle of a pump according to the proposal is to utilize the thermal expansion and contraction of a wax or other phase-change material in contact with a hydraulic fluid in a rigid chamber. Heating the chamber and its contents from below to above the melting temperature of the phase-change material would cause the material to expand significantly, thus causing a substantial increase in hydraulic pressure and/or a substantial displacement of hydraulic fluid out of the chamber. Similarly, cooling the chamber and its contents from above to below the melting temperature of the phase-change material would cause the material to contract significantly, thus causing a substantial decrease in hydraulic pressure and/or a substantial displacement of hydraulic fluid into the chamber. The displacement of the hydraulic fluid could be used to drive a piston. The figure illustrates a simple example of a hydraulic jack driven by a thermally actuated hydraulic pump. The pump chamber would be a cylinder containing encapsulated wax pellets and containing radial fins to facilitate transfer of heat to and from the wax. The plastic encapsulation would serve as an oil/wax barrier and the remaining interior space could be filled with hydraulic oil. A filter would retain the encapsulated wax particles in the pump chamber while allowing the hydraulic oil to flow into and out of the chamber. In one important class of potential applications, thermally actuated hydraulic pumps, exploiting vertical ocean temperature gradients for heating and cooling as needed, would be used to vary hydraulic pressures to control buoyancy in undersea research

Electrical servo actuator bracket. [fuel control valves on jet engines

Science.gov (United States)

Sawyer, R. V. (Inventor)

1981-01-01

An electrical servo actuator is mounted on a support arm which is allowed to pivot on a bolt through a fixed mounting bracket. The actuator is pivotally connected to the end of the support arm by a bolt which has an extension allowed to pass through a slot in the fixed mounting bracket. An actuator rod extends from the servo actuator to a crank arm which turns a control shaft. A short linear thrust of the rod pivots the crank arm through about 90 for full-on control with the rod contracted into the servo actuator, and full-off control when the rod is extended from the actuator. A spring moves the servo actuator and actuator rod toward the control crank arm once the actuator rod is fully extended in the full-off position. This assures the turning of the control shaft to a full-off position. A stop bolt and slot are provided to limit pivot motion. Once fully extended, the spring pivots the motion.

Rancang Bangun Graphical User Interface Untuk Pergerakan Motor Servo menggunakan Microsoft Visual Basic 2010 Express

Directory of Open Access Journals (Sweden)

Anggoro S Pramudyo

2016-03-01

Full Text Available Zaman sekarang ini teknologi sedang berkembang pesat dan robot-robot dirancang untuk dapat membantu pekerjaan dan tugas-tugas manusia. Motor servo merupakan salah satu jenis dari motor DC dan banyak diaplikasikan pada dunia robotik maupun peralatan lain, contohnya motor servo yang digunakan untuk robot berkaki. Dalam penggunaannya motor servo dapat bergerak karena ada sinyal yang dibangkitkan melalui sinyal PWM. Sinyal yang dihasilkan akan membentuk sudut sesuai nilai yang diberikan. Penelitian ini bertujuan untuk membuat perangkat lunak GUI untuk membuat pergerakan motor servo menggunakan Microsoft Visual Basic dengan bantuan database menggunakan Microsoft Access. Pergerakan motor servo dapat bergerak secara sekuen dan real time menggunakan GUI yang dihubungkan dengan Arduino mega 2560. Parameter yang terdapat di dalam database juga bisa langsung di-export menjadi file Arduino. Hasil penelitian ini GUI yang telah dibuat dapat menggerakkan motor servo secara lancar melalui komunikasi serial ketika baudrate diatur pada kecepatan 9600 bps. GUI yang dibuat juga menghasilkan sudut untuk motor servo yaitu dari 00 sampai 1800 secara tepat dan akurat, sehingga mempercepat waktu dalam  menentukan sudut untuk pergerakan motor servo yang akan digunakan.

Modeling and analysis of a meso-hydraulic climbing robot with artificial muscle actuation.

Science.gov (United States)

Chapman, Edward M; Jenkins, Tyler E; Bryant, Matthew

2017-07-10

This paper presents a fully coupled electro-hydraulic model of a bio-inspired climbing robot actuated by fluidic artificial muscles (FAMs). This analysis expands upon previous FAM literature by considering not only the force and contraction characteristics of the actuator, but the complete hydraulic and electromechanical circuits as well as the dynamics of the climbing robot. This analysis allows modeling of the time-varying applied pressure, electrical current, and actuator contraction for accurate prediction of the robot motion, energy consumption, and mechanical work output. The developed model is first validated against mechanical and electrical data collected from a proof-of-concept prototype robot. The model is then employed to study the system-level sensitivities of the robot locomotion efficiency and average climbing speed to several design and operating parameters. The results of this analysis demonstrate that considering only the transduction efficiency of the FAM actuators is insufficient to maximize the efficiency of the complete robot, and that a holistic approach can lead to significant improvements in performance. © 2017 IOP Publishing Ltd.

Aperiodic pressure pulsation under non optimal hydraulic turbine regimes at low swirl number

Science.gov (United States)

Skripkin, S. G.; Tsoy, M. A.; Kuibin, P. A.; Shtork, S. I.

2017-09-01

Off-design operating conditions of hydraulic turbines is hindered by pressure fluctuations in the draft tube of the turbine. A precessing helical vortex rope develops, which imperils the mechanical structure and limits the operation flexibility of hydropower station. Understanding of the underlying instabilities of precessing vortex rope at low swirl number is incomplete. In this paper flow regimes with different residual swirl is analysed, particular attention is paid to the regime with a small swirl parameter. Study defines upper and low boundaries of regime where aperiodic pressure surge is observed. Flow field at the runner exit is investigated by Laser Doppler Velocimetry and high-speed visualizations, which are complemented draft tube wall pressure measurements.

Analogical study of the servo-control of a reactivity modulator

International Nuclear Information System (INIS)

Le Bot, Michel

1969-03-01

In the context of the study of the transfer functions related to the Cabri reactor, this paper presents: the objective of the servo-control (reactivity modulator, reasons for the analogical study), the principles of the servo-control (description of the servo-controlled system, elaboration of the error signal, principles of the phase meter, critical analysis of different types of phase meters), the analogical formulation (transfer diagram of the process, analogical simulation of the process, analogical realization of the phase meter, simulation of the Low Frequency generator), study of the controlled system and results (system responses to echelon and ramp signals, responses of the controlled system with the phase meter in feedback)

An analysis of electro-osmotic and magnetohydrodynamic heat pipes

International Nuclear Information System (INIS)

Harrison, M.A.

1988-01-01

Mechanically simple methods of improving heat transport in heat pipes are investigated. These methods are electro-osmotic and magnetohydrodynamic augmentation. For the electro-osmotic case, a detailed electrokinetic model is used. The electrokinetic model used includes the effects of pore surface curvature and multiple ion diffusivities. The electrokinetic model is extended to approximate the effects of elevated temperature. When the electro-osmotic model is combined with a suitable heat-pipe model, it is found that the electro-osmotic pump should be a thin membrane. Arguments are provided that support the use of a volatile electrolyte. For the magnetohydrodynamic case, a brief investigation is provided. A quasi-one-dimensional hydromagnetic duct flow model is used. This hydromagnetic model is extended to approximate flow effects unique to heat pipes. When combined with a suitable heat pipe model, it is found that there is no performance gain for the case considered. In fact, there are serious pressure-distribution problems that have not been previously recognized. Potential solutions to these pressure-distribution problems are suggested

A Computational Model of Hydraulic Volume Displacement Drive

Directory of Open Access Journals (Sweden)

V. N. Pil'gunov

2014-01-01

Full Text Available The paper offers a computational model of industrial-purpose hydraulic drive with two hydraulic volume adjustable working chamber machines (pump and motor. Adjustable pump equipped with the pressure control unit can be run together with several adjustable hydraulic motors on the principle of three-phase hydraulic socket-outlet with high-pressure lines, drain, and drainage system. The paper considers the pressure-controlled hydrostatic transmission with hydraulic motor as an output link. It shows a possibility to create a saving hydraulic drive using a functional tie between the adjusting parameters of the pump and hydraulic motor through the pressure difference, torque, and angular rate of the hydraulic motor shaft rotation. The programmable logic controller can implement such tie. The Coulomb and viscous frictions are taken into consideration when developing a computational model of the hydraulic volume displacement drive. Discharge balance considers external and internal leakages in equivalent clearances of hydraulic machines, as well as compression loss volume caused by hydraulic fluid compressibility and deformation of pipe walls. To correct dynamic properties of hydraulic drive, the paper offers that in discharge balance are included the additional regulated external leakages in the open circuit of hydraulic drive and regulated internal leakages in the closed-loop circuit. Generalized differential equations having functional multipliers and multilinked nature have been obtained to describe the operation of hydraulic positioning and speed drive with two hydraulic volume adjustable working chamber machines. It is shown that a proposed computational model of hydraulic drive can be taken into consideration in development of LS («Load-Sensing» drives, in which the pumping pressure is tuned to the value required for the most loaded slave motor to overcome the load. Results attained can be used both in designing the industrial-purpose heavy

Development of a remote controlled fatigue testing apparatus at elevated temperature in controlled environment

International Nuclear Information System (INIS)

Ohmi, Masao; Mimura, Hideaki; Ishii, Toshimitsu

1996-02-01

The fatigue characteristics of reactor structural materials at high temperature are necessary to be evaluated for ensuring the safety of the High Temperature engineering Test Reactor (HTTR). Especially, the high temperature test data on safety research such as low cycle fatigue property and crack propagation property for reactor pressure vessel material are important for the development of the HTTR. Responding to these needs, a remote controlled type fatigue testing machine has been developed and installed in a hot cell of JMTR Hot Laboratory to get the fatigue data of irradiated materials. The machine was developed modifying a commercially available electro-hydraulic servo type fatigue testing machine to withstand radiation and be remotely operated, and mainly consists of a testing machine frame, environment chamber, extensometer, actuator and vacuum exhaust system. It has been confirmed that the machine has good performance to obtain low cycle fatigue data through many demonstration tests on unirradiated and irradiated specimens. (author)

The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments.

Science.gov (United States)

Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J; Madison, Kirk W

2018-02-01

In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

The performance and limitations of FPGA-based digital servos for atomic, molecular, and optical physics experiments

Science.gov (United States)

Yu, Shi Jing; Fajeau, Emma; Liu, Lin Qiao; Jones, David J.; Madison, Kirk W.

2018-02-01

In this work, we address the advantages, limitations, and technical subtleties of employing field programmable gate array (FPGA)-based digital servos for high-bandwidth feedback control of lasers in atomic, molecular, and optical physics experiments. Specifically, we provide the results of benchmark performance tests in experimental setups including noise, bandwidth, and dynamic range for two digital servos built with low and mid-range priced FPGA development platforms. The digital servo results are compared to results obtained from a commercially available state-of-the-art analog servo using the same plant for control (intensity stabilization). The digital servos have feedback bandwidths of 2.5 MHz, limited by the total signal latency, and we demonstrate improvements beyond the transfer function offered by the analog servo including a three-pole filter and a two-pole filter with phase compensation to suppress resonances. We also discuss limitations of our FPGA-servo implementation and general considerations when designing and using digital servos.

Precision position control of servo systems using adaptive back-stepping and recurrent fuzzy neural networks

International Nuclear Information System (INIS)

Kim, Han Me; Kim, Jong Shik; Han, Seong Ik

2009-01-01

To improve position tracking performance of servo systems, a position tracking control using adaptive back-stepping control(ABSC) scheme and recurrent fuzzy neural networks(RFNN) is proposed. An adaptive rule of the ABSC based on system dynamics and dynamic friction model is also suggested to compensate nonlinear dynamic friction characteristics. However, it is difficult to reduce the position tracking error of servo systems by using only the ABSC scheme because of the system uncertainties which cannot be exactly identified during the modeling of servo systems. Therefore, in order to overcome system uncertainties and then to improve position tracking performance of servo systems, the RFNN technique is additionally applied to the servo system. The feasibility of the proposed control scheme for a servo system is validated through experiments. Experimental results show that the servo system with ABS controller based on the dual friction observer and RFNN including the reconstruction error estimator can achieve desired tracking performance and robustness

Comparison between gradient-dependent hydraulic conductivities of roots using the root pressure probe: the role of pressure propagations and implications for the relative roles of parallel radial pathways.

Science.gov (United States)

Bramley, Helen; Turner, Neil C; Turner, David W; Tyerman, Stephen D

2007-07-01

Hydrostatic pressure relaxations with the root pressure probe are commonly used for measuring the hydraulic conductivity (Lp(r)) of roots. We compared the Lp(r) of roots from species with different root hydraulic properties (Lupinus angustifolius L. 'Merrit', Lupinus luteus L. 'Wodjil', Triticum aestivum L. 'Kulin' and Zea mays L. 'Pacific DK 477') using pressure relaxations, a pressure clamp and osmotic gradients to induce water flow across the root. Only the pressure clamp measures water flow under steady-state conditions. Lp(r) determined by pressure relaxations was two- to threefold greater than Lp(r) from pressure clamps and was independent of the direction of water flow. Lp(r) (pressure clamp) was two- to fourfold higher than for Lp(r) (osmotic) for all species except Triticum aestivum where Lp(r) (pressure clamp) and Lp(r) (osmotic) were not significantly different. A novel technique was developed to measure the propagation of pressure through roots to investigate the cause of the differences in Lp(r). Root segments were connected between two pressure probes so that when root pressure (P(r)) was manipulated by one probe, the other probe recorded changes in P(r). Pressure relaxations did not induce the expected kinetics in pressure in the probe at the other end of the root when axial hydraulic conductance, and probe and root capacitances were accounted for. An electric circuit model of the root was constructed that included an additional capacitance in the root loaded by a series of resistances. This accounted for the double exponential kinetics for intact roots in pressure relaxation experiments as well as the reduced response observed with the double probe experiments. Although there were potential errors with all the techniques, we considered that the measurement of Lp(r) using the pressure clamp was the most unambiguous for small pressure changes, and provided that sufficient time was allowed for pressure propagation through the root. The differences in

Photoelectric radar servo control system based on ARM+FPGA

Science.gov (United States)

Wu, Kaixuan; Zhang, Yue; Li, Yeqiu; Dai, Qin; Yao, Jun

2016-01-01

In order to get smaller, faster, and more responsive requirements of the photoelectric radar servo control system. We propose a set of core ARM + FPGA architecture servo controller. Parallel processing capability of FPGA to be used for the encoder feedback data, PWM carrier modulation, A, B code decoding processing and so on; Utilizing the advantage of imaging design in ARM Embedded systems achieves high-speed implementation of the PID algorithm. After the actual experiment, the closed-loop speed of response of the system cycles up to 2000 times/s, in the case of excellent precision turntable shaft, using a PID algorithm to achieve the servo position control with the accuracy of + -1 encoder input code. Firstly, This article carry on in-depth study of the embedded servo control system hardware to determine the ARM and FPGA chip as the main chip with systems based on a pre-measured target required to achieve performance requirements, this article based on ARM chip used Samsung S3C2440 chip of ARM7 architecture , the FPGA chip is chosen xilinx's XC3S400 . ARM and FPGA communicate by using SPI bus, the advantage of using SPI bus is saving a lot of pins for easy system upgrades required thereafter. The system gets the speed datas through the photoelectric-encoder that transports the datas to the FPGA, Then the system transmits the datas through the FPGA to ARM, transforms speed datas into the corresponding position and velocity data in a timely manner, prepares the corresponding PWM wave to control motor rotation by making comparison between the position data and the velocity data setted in advance . According to the system requirements to draw the schematics of the photoelectric radar servo control system and PCB board to produce specially. Secondly, using PID algorithm to control the servo system, the datas of speed obtained from photoelectric-encoder is calculated position data and speed data via high-speed digital PID algorithm and coordinate models. Finally, a

Design and construction of a prototype of hydraulic generator for study and development of control strategies for electric power generation in underground mines

Directory of Open Access Journals (Sweden)

Fabián Higuera

2013-12-01

Full Text Available This paper presents the design and control of a hydraulic generator to produce energy in the underground mine EL UVO of the company Paz del Río S.A., taking advantage the water flows that are generated in the exploitation of iron ore. The generator is constituted of a Pelton wheel which receives water through a servo valve, and it is connected to a DC generator. It was developed a discrete controller by algebraic methods for controlling the servo valve with the aim of achieving a constant flow of water to the Pelton wheel, allowing a constant voltage generation.

Orthogonal optimization of a water hydraulic pilot-operated pressure-reducing valve

Science.gov (United States)

Mao, Xuyao; Wu, Chao; Li, Bin; Wu, Di

2017-12-01

In order to optimize the comprehensive characteristics of a water hydraulic pilot-operated pressure-reducing valve, numerical orthogonal experimental design was adopted. Six parameters of the valve, containing diameters of damping plugs, volume of spring chamber, half cone angle of main spool, half cone angle of pilot spool, mass of main spool and diameter of main spool, were selected as the orthogonal factors, and each factor has five different levels. An index of flowrate stability, pressure stability and pressure overstrike stability (iFPOS) was used to judge the merit of each orthogonal attempt. Embedded orthogonal process turned up and a final optimal combination of these parameters was obtained after totally 50 numerical orthogonal experiments. iFPOS could be low to a fairly low value which meant that the valve could have much better stabilities. During the optimization, it was also found the diameters of damping plugs and main spool played important roles in stability characteristics of the valve.

Servo control booster system for minimizing following error

Science.gov (United States)

Wise, W.L.

1979-07-26

A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, ..delta..S/sub R/, on a continuous real-time basis, for all operational times of consequence and for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error greater than or equal to ..delta..S/sub R/, to produce precise position correction signals. When the command-to-response error is less than ..delta..S/sub R/, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.

Provision of servo-controlled cooling during neonatal transport.

Science.gov (United States)

Johnston, Ewen D; Becher, Julie-Clare; Mitchell, Anne P; Stenson, Benjamin J

2012-09-01

Therapeutic hypothermia is a time critical intervention for infants who have experienced a hypoxic-ischaemic event. Previously reported methods of cooling during transport do not demonstrate the same stability achieved in the neonatal unit. The authors developed a system which allowed provision of servo-controlled cooling throughout transport, and present their first year's experience. Retrospective review of routinely collected patient data. 14 out-born infants were referred for cooling during a 12-month period. Nine infants were managed with the servo-controlled system during transport. Cooling was commenced in all infants before 6 h of life. Median time from team arrival to the infant having a temperature in the target range (33-34°C) was 45 min. Median temperature during transfer was 33.5°C (range 33-34°C). Temperature on arrival at the cooling centre ranged from 33.4°C to 33.8°C. Servo-controlled cooling during transport is feasible and provides an optimal level of thermal control.

Permanent magnet synchronous motor servo system control based on μC/OS

Science.gov (United States)

Shi, Chongyang; Chen, Kele; Chen, Xinglong

2015-10-01

When Opto-Electronic Tracking system operates in complex environments, every subsystem must operate efficiently and stably. As a important part of Opto-Electronic Tracking system, the performance of PMSM(Permanent Magnet Synchronous Motor) servo system affects the Opto-Electronic Tracking system's accuracy and speed greatly[1][2]. This paper applied embedded real-time operating system μC/OS to the control of PMSM servo system, implemented SVPWM(Space Vector Pulse Width Modulation) algorithm in PMSM servo system, optimized the stability of PMSM servo system. Pointing on the characteristics of the Opto-Electronic Tracking system, this paper expanded μC/OS with software redundancy processes, remote debugging and upgrading. As a result, the Opto- Electronic Tracking system performs efficiently and stably.

Servo Driven Corotation: Development of AN Inertial Clock.

Science.gov (United States)

Cheung, Wah-Kwan Stephen

An inertial clock to test non-metricity of gravity is proposed here. A first, room-temperature, servo corotation -protected, double magnetically suspended precision rotor system is developed for this purpose. The specific goal was to exhibit the properties of such a clock in its entirety at whatever level of precision was achievable. A monolithic system has been completed for these preliminary studies. It includes particular development of individual experimental sub-systems (a hybrid double magnetic suspension; a diffusion pumping system; a microcomputer -controlled eddy-current drive system; and the angular period measuring schemes for the doubly suspended rotors). Double magnetic suspension had been investigated by Beams for other purposes. The upper transducer is optical but parametrized and the lower transducer employs the frequency modulation characteristic of a LC tank circuit. The doubly suspended rotors corotate so that the upper rotor is servoed to rotate at the same angular velocity as that of the lower rotor. This creates a "drag free" environment for the lower rotor and effectively eliminates the gas drag on the lower rotor. Consequently, the decay time constant of the lower rotor increases. With other means of protection, the lower rotor will then, with perfect system operation, suffer no drag and therefore become the inertial time keeper. A commercial microcomputer is introduced to execute the servo-corotation. The tests thus far are, with one exception, run at atmospheric pressure. An idealized analysis for open and closed loop corotation is shown. Such analysis includes only the viscous drag acting on the corotating rotors. The analysis suggests that angular position control be added to the present feedback drive which is of derivative nature only. Open and closed corotation runs show that a strong torsional coupling besides that of the gas drag exists between the rotors. When misalignment of the support pole pieces is deliberately made significant

Hydraulic system for driving control rods

International Nuclear Information System (INIS)

Okuzumi, Naoaki.

1982-01-01

Purpose: To enable safety reactor shut down upon occurrence of an abnormal excess pressure in a hydraulic control unit. Constitution: The actuation pressure for a pressure switch that generates a scram signal is set lower than the release pressure set to a pressure release valve. Thus, if the pressure of nitrogen gas in a nitrogen container increases such as upon exposure of the hydraulic control unit to a high temperature, the pressure switch is actuated at first to generate the scram signal and a scram valve is opened to supply water at high pressure to control rod drives under the driving force of the nitrogen gas at high pressure to rapidly insert the control element into the reactor and shut down it. If the pressure of the nitrogen gas still increases after the scram, the pressure release valve is opened to release the nitrogen gas at high temperature to the atmosphere. Since the scram is attained before the actuation of the pressure release valve, safety reactor shut down can be attained and the hydraulic control unit can be protected. (Sekiya, K.)

Analysis of the servo-spill control for slow beam extraction

International Nuclear Information System (INIS)

Sato, Hikaru; Toyama, Takeshi; Marutsuka, Katsumi; Shirakata, Masashi.

1994-01-01

This report describes an analysis of servo-spill control system for the slow beam extraction from the KEK PS. Transfer function of extraction process is derived from measurement of the closed-loop characteristic using measured frequency response of each equipment. Result indicates the restriction of the present servo-spill control and give a guide line for the improvement. (author)

Nonlinear friction model for servo press simulation

Science.gov (United States)

Ma, Ninshu; Sugitomo, Nobuhiko; Kyuno, Takunori; Tamura, Shintaro; Naka, Tetsuo

2013-12-01

The friction coefficient was measured under an idealized condition for a pulse servo motion. The measured friction coefficient and its changing with both sliding distance and a pulse motion showed that the friction resistance can be reduced due to the re-lubrication during unloading process of the pulse servo motion. Based on the measured friction coefficient and its changes with sliding distance and re-lubrication of oil, a nonlinear friction model was developed. Using the newly developed the nonlinear friction model, a deep draw simulation was performed and the formability was evaluated. The results were compared with experimental ones and the effectiveness was verified.

Hydraulic nuts (hydranuts) for critical bolted joints

International Nuclear Information System (INIS)

Greenwell, S.

2008-01-01

HydraNuts replace the original nut and torquing equipment, combining the two functions into one system. Designed for simple installation and operation, HydraNuts are fitted to the stud bolts. Once all HydraNuts are fitted to the application, flexible hydraulic hoses are connected, forming a closed loop hydraulic harness, allowing simultaneous pressurization of all HydraNuts. Hydraulic pressure is obtained by the use of a pumping unit and the resultant load generated is transferred to the studs and flange closure is obtained. Locking rings are rotated into place, supporting the tensioned load mechanically after hydraulic pressure is released. The hose harness is removed. (author)

Cylinder Position Servo Control Based on Fuzzy PID

Directory of Open Access Journals (Sweden)

Shibo Cai

2013-01-01

Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.

Hydraulic fracture considerations in oil sand overburden dams

Energy Technology Data Exchange (ETDEWEB)

Cameron, R.; Madden, B.; Danku, M. [Syncrude Canada Ltd., Fort McMurray, AB (Canada)

2008-07-01

This paper discussed hydraulic fracture potential in the dry-filled temporary dams used in the oil sands industry. Hydraulic fractures can occur when reservoir fluid pressures are greater than the minimum stresses in a dam. Stress and strain conditions are influenced by pore pressures, levels of compaction in adjacent fills as well as by underlying pit floor and abutment conditions. Propagation pressure and crack initiation pressures must also be considered in order to provide improved hydraulic fracture protection to dams. Hydraulic fractures typically result in piping failures. Three cases of hydraulic fracture at oil sands operations in Alberta were presented. The study showed that hydraulic fracture failure modes must be considered in dam designs, particularly when thin compacted lift of dry fill are used to replace wetted clay cores. The risk of hydraulic fractures can be reduced by eliminating in situ bedrock irregularities and abutments. Overpressure heights, abutment sloping, and the sloping of fills above abutments, as well as the dam's width and base conditions must also be considered in relation to potential hydraulic fractures. It was concluded that upstream sand beaches and internal filters can help to prevent hydraulic fractures in dams in compacted control zones. 5 refs., 16 figs.

Imaged-Based Visual Servo Control for a VTOL Aircraft

Directory of Open Access Journals (Sweden)

Liying Zou

2017-01-01

Full Text Available This paper presents a novel control strategy to force a vertical take-off and landing (VTOL aircraft to accomplish the pinpoint landing task. The control development is based on the image-based visual servoing method and the back-stepping technique; its design differs from the existing methods because the controller maps the image errors onto the actuator space via a visual model which does not contain the depth information of the feature point. The novelty of the proposed method is to extend the image-based visual servoing technique to the VTOL aircraft control. In addition, the Lyapunov theory is used to prove the asymptotic stability of the VTOL aircraft visual servoing system, while the image error can converge to zero. Furthermore, simulations have been also conducted to demonstrate the performances of the proposed method.

Mathematical-model study of servo system with pulse-duration control of micromovements

International Nuclear Information System (INIS)

Dement'eva, M.A.; Leonov, A.P.; Popov, V.V.; Skugarevskii, A.I.; Ustinov, E.A.; Chernyavskii, N.N.

1988-01-01

A number of digital servo systems with pulse-duration control have been developed at the Institute of High Energy Physics for the instruments of the scanning and measurement system and various experimental setups. They are based on stock transistor bridge stages, whose loads are high-speed servomotors with printed-circuit armature windings. Study of these servo systems by traditional methods, which are based on Laplace transforms, or by mean values with expansion of the current pulse into a Fourier transform yields approximate results and does not reflect the actual processes that take place in a pulse servo system. They attempt to develop a method and extend it to the study of high-speed servo systems in the area of micromovements and quasistationary velocity without position or velocity feedback

An open source digital servo for atomic, molecular, and optical physics experiments

Energy Technology Data Exchange (ETDEWEB)

Leibrandt, D. R., E-mail: david.leibrandt@nist.gov; Heidecker, J. [National Institute of Standards and Technology, Boulder, Colorado 80305 (United States)

2015-12-15

We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of {sup 27}Al{sup +} in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

An open source digital servo for atomic, molecular, and optical physics experiments

International Nuclear Information System (INIS)

Leibrandt, D. R.; Heidecker, J.

2015-01-01

We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27 Al + in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser

An open source digital servo for atomic, molecular, and optical physics experiments

Science.gov (United States)

Leibrandt, D. R.; Heidecker, J.

2015-12-01

We describe a general purpose digital servo optimized for feedback control of lasers in atomic, molecular, and optical physics experiments. The servo is capable of feedback bandwidths up to roughly 1 MHz (limited by the 320 ns total latency); loop filter shapes up to fifth order; multiple-input, multiple-output control; and automatic lock acquisition. The configuration of the servo is controlled via a graphical user interface, which also provides a rudimentary software oscilloscope and tools for measurement of system transfer functions. We illustrate the functionality of the digital servo by describing its use in two example scenarios: frequency control of the laser used to probe the narrow clock transition of 27Al+ in an optical atomic clock, and length control of a cavity used for resonant frequency doubling of a laser.

Nonlinear Modeling and Coordinate Optimization of a Semi-Active Energy Regenerative Suspension with an Electro-Hydraulic Actuator

Directory of Open Access Journals (Sweden)

Farong Kou

2018-01-01

Full Text Available In order to coordinate the damping performance and energy regenerative performance of energy regenerative suspension, this paper proposes a structure of a vehicle semi-active energy regenerative suspension with an electro-hydraulic actuator (EHA. In light of the proposed concept, a specific energy regenerative scheme is designed and a mechanical properties test is carried out. Based on the test results, the parameter identification for the system model is conducted using a recursive least squares algorithm. On the basis of the system principle, the nonlinear model of the semi-active energy regenerative suspension with an EHA is built. Meanwhile, linear-quadratic-Gaussian control strategy of the system is designed. Then, the influence of the main parameters of the EHA on the damping performance and energy regenerative performance of the suspension is analyzed. Finally, the main parameters of the EHA are optimized via the genetic algorithm. The test results show that when a sinusoidal is input at the frequency of 2 Hz and the amplitude of 30 mm, the spring mass acceleration root meam square value of the optimized EHA semi-active energy regenerative suspension is reduced by 22.23% and the energy regenerative power RMS value is increased by 40.51%, which means that while meeting the requirements of vehicle ride comfort and driving safety, the energy regenerative performance is improved significantly.

The Multi-Porosity Multi-Permeability and Electrokinetic Natures of Shales and Their Effects in Hydraulic Fracturing of Unconventional Shale Reservoirs

Science.gov (United States)

Liu, C.; Hoang, S. K.; Tran, M. H.; Abousleiman, Y. N.

2013-12-01

Imaging studies of unconventional shale reservoir rocks have recently revealed the multi-porosity multi-permeability nature of these intricate formations. In particular, the porosity spectrum of shale reservoir rocks often comprises of the nano-porosity in the organic matters, the inter-particle micro-porosity, and the macroscopic porosity of the natural fracture network. Shale is also well-known for its chemically active behaviors, especially shrinking and swelling when exposed to aqueous solutions, as the results of pore fluid exchange with external environment due to the difference in electro-chemical potentials. In this work, the effects of natural fractures and electrokinetic nature of shale on the formation responses during hydraulic fracturing are examined using the dual-poro-chemo-electro-elasticity approach which is a generalization of the classical Biot's poroelastic formulation. The analyses show that the presence of natural fractures can substantially increase the leak-off rate of fracturing fluid into the formation and create a larger region of high pore pressure near the fracture face as shown in Fig.1a. Due to the additional fluid invasion, the naturally fractured shale swells up more and the fracture aperture closes faster compared to an intrinsically low permeability non-fractured shale formation as shown in Fig.1b. Since naturally fractured zones are commonly targeted as pay zones, it is important to account for the faster fracture closing rate in fractured shales in hydraulic fracturing design. Our results also show that the presence of negative fixed charges on the surface of clay minerals creates an osmotic pressure at the interface of the shale and the external fluid as shown in Fig.1c. This additional Donnan-induced pore pressure can result in significant tensile effective stresses and tensile damage in the shale as shown in Fig.1d. The induced tensile damage can exacerbate the problem of proppant embedment resulting in more fracture closure

Application of AC servo motor on the in-core neutron flux instrumentation system

International Nuclear Information System (INIS)

Du Xiaoguang; Wang Mingtao

2010-01-01

The application of ac servo motor in the In-Core Neutron Flux Instrumentation System is described. The hardware component of ac servo motor control system is different from the dc motor control system. The effect of two control system on the instrumentation system is compared. The ac servo motor control system can improve the accuracy of the motion control, optimize the speed control and increase the reliability. (authors)

A Design Method of Robust Servo Internal Model Control with Control Input Saturation

OpenAIRE

山田, 功; 舩見, 洋祐

2001-01-01

In the present paper, we examine a design method of robust servo Internal Model Control with control input saturation. First of all, we clarify the condition that Internal Model Control has robust servo characteristics for the system with control input saturation. From this consideration, we propose new design method of Internal Model Control with robust servo characteristics. A numerical example to illustrate the effectiveness of the proposed method is shown.

Analysis of a biphase-based servo format for hard-disk drives

NARCIS (Netherlands)

Makinwa, K.A.A.; Bergmans, J.W.M.; Voorman, J.O.

2000-01-01

Biphase modulation in an embedded-servo format for hard-disk drives is investigated. It is shown that for biphase, at the low linear densities typical of servo information, near-maximum-likelihood performance can be attained by a simple bit detector consisting of a full-response linear equalizer and

Loss-of-Fluid Test findings in pressurized water reactor core's thermal-hydraulic behavior

International Nuclear Information System (INIS)

Russell, M.

1983-01-01

This paper summarizes the pressurized water reactor (PWR) core's thermal-hydraulic behavior findings from experiments performed at the Loss-of-Fluid Test (LOFT) Facility at the Idaho National Engineering Laboratory. The potential impact of these findings on the safety and economics of PWR's generation of electricity is also discussed. Reviews of eight important findings in the core's physical behavior and in experimental methods are presented with supporting evidence

Improvement of the low-speed friction characteristics of a hydraulic piston pump by PVD-coating of TiN

International Nuclear Information System (INIS)

Hong, Yeh Sun; Lee, Sang Yul; Kim, Sung Hun; Lim, Hyun Sik

2006-01-01

The hydraulic pump of an Electro-hydrostatic Actuator should be able to quickly feed large volume of oil into hydraulic cylinder in order to reduce the response time. On the other hand, it should be also able to precisely dispense small amount of oil through low-speed operation so that the steady state position control error of the actuator can be accurately compensated. Within the scope of axial piston type hydraulic pumps, this paper is focused on the investigation how the surface treatment of their cylinder barrel with TiN plasma coating can contribute to the reduction of the friction and wear rate of valve plate in the low-speed range with mixed lubrication. The results showed that the friction torque of the valve plate mated with a TiN-coated cylinder barrel could be reduced to 22% of that with an uncoated original one when load pressure was 300 bar and rotational speed 100 rpm. It means that the torque efficiency of the test pump was expected to increase more than 1.3% under the same working condition. At the same time, the wear rate of the valve plate could be reduced to 40∼50%

Fuzzy model-based servo and model following control for nonlinear systems.

Science.gov (United States)

Ohtake, Hiroshi; Tanaka, Kazuo; Wang, Hua O

2009-12-01

This correspondence presents servo and nonlinear model following controls for a class of nonlinear systems using the Takagi-Sugeno fuzzy model-based control approach. First, the construction method of the augmented fuzzy system for continuous-time nonlinear systems is proposed by differentiating the original nonlinear system. Second, the dynamic fuzzy servo controller and the dynamic fuzzy model following controller, which can make outputs of the nonlinear system converge to target points and to outputs of the reference system, respectively, are introduced. Finally, the servo and model following controller design conditions are given in terms of linear matrix inequalities. Design examples illustrate the utility of this approach.

Photoinduced electro-optics measurements of biosilica transformation to cristobalite

Energy Technology Data Exchange (ETDEWEB)

Fuchs, Ido [Department of Chemistry and the Institute of Nanotechnology, Bar-Ilan University, Ramat-Gan 52900 (Israel); Aluma, Yaniv; Ilan, Micha [Department of Zoology, George S. Wise Faculty of Life Sciences, Tel Aviv University, Tel Aviv 6997801 (Israel); Kityk, Iwan [Institute of Electronic Systems, Faculty of Electrical Engineering, Czestochowa University, Czestochowa 42-201 (Poland); Mastai, Yitzhak, E-mail: Yitzhak.Mastai@biu.ac.il [Department of Chemistry and the Institute of Nanotechnology, Bar-Ilan University, Ramat-Gan 52900 (Israel)

2015-03-15

In this paper we studied the photoinduced electro optics effects in the thermal transformation process of biosilica to cristobalite, at a relatively low temperature and ambient pressure. This process was characterized by a variety of standards techniques with emphasis on linear electro optic effect measurements. Overall we demonstrated that photoinduced electro optics measurements are very sensitive to the transformation from amorphous structure of silica in the natural sponge samples to laminar string morphology of cristobalite. With this technique we could probe the change in the samples chirality from achiral bio silica to chiral cristobalite structure. Furthermore it is shown that natural biosilica have photoinduced linear electro optics respond indicating the chiral natural of biosilica. - Graphical abstract: The phase transformation of biosilica from marine sponges to Cristobalite under thermal treatment was investigated using photoinduced electro optics measurements. The figure shows the changes of the electro-optic coefficient of cristobalite and biosilica. - Highlights: • We examine phase transformation of biosilica. • We report transition from amorphous biosilica to crystalline Cristobalite. • Biosilica transformation to Cristobalite at temperature of 850 °C. • Biosilica transformation is studied with photoinduced measurements. • We examine changes in the photoinduced linear electro optics properties.

Photoinduced electro-optics measurements of biosilica transformation to cristobalite

International Nuclear Information System (INIS)

Fuchs, Ido; Aluma, Yaniv; Ilan, Micha; Kityk, Iwan; Mastai, Yitzhak

2015-01-01

In this paper we studied the photoinduced electro optics effects in the thermal transformation process of biosilica to cristobalite, at a relatively low temperature and ambient pressure. This process was characterized by a variety of standards techniques with emphasis on linear electro optic effect measurements. Overall we demonstrated that photoinduced electro optics measurements are very sensitive to the transformation from amorphous structure of silica in the natural sponge samples to laminar string morphology of cristobalite. With this technique we could probe the change in the samples chirality from achiral bio silica to chiral cristobalite structure. Furthermore it is shown that natural biosilica have photoinduced linear electro optics respond indicating the chiral natural of biosilica. - Graphical abstract: The phase transformation of biosilica from marine sponges to Cristobalite under thermal treatment was investigated using photoinduced electro optics measurements. The figure shows the changes of the electro-optic coefficient of cristobalite and biosilica. - Highlights: • We examine phase transformation of biosilica. • We report transition from amorphous biosilica to crystalline Cristobalite. • Biosilica transformation to Cristobalite at temperature of 850 °C. • Biosilica transformation is studied with photoinduced measurements. • We examine changes in the photoinduced linear electro optics properties

Optimization of Multiple Seepage Piping Parameters to Maximize the Critical Hydraulic Gradient in Bimsoils

Directory of Open Access Journals (Sweden)

Yu Wang

2017-10-01

Full Text Available Seepage failure in the form of piping can strongly influence the stability of block-in-matrix-soils (bimsoils, as well as weaken and affect the performance of bimsoil structures. The multiple-factor evaluation and optimization play a crucial role in controlling the seepage failure in bimsoil. The aim of this study is to improve the ability to control the piping seepage failure in bimsoil. In this work, the response surface method (RSM was employed to evaluate and optimize the multiple piping parameters to maximize the critical hydraulic gradient (CHG, in combination with experimental modeling based on a self-developed servo-controlled flow-erosion-stress coupled testing system. All of the studied specimens with rock block percentage (RBP of 30%, 50%, and 70% were produced as a cylindrical shape (50 mm diameter and 100 mm height by compaction tests. Four uncertain parameters, such as RBP, soil matrix density, confining pressure, and block morphology were used to fit an optimal response of the CHG. The sensitivity analysis reveals the influential order of the studied factors to CHG. It is found that RBP is the most sensitive factor, the CHG decreases with the increase of RBP, and CHG increases with the increase of confining pressure, soil matrix density, and block angularity.

COMPARISON OF LINEAR CONTROLLERS FOR A

DEFF Research Database (Denmark)

Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik C.

2005-01-01

on comparing different linear controllers, based on both simulation and experimental results, to determine what is obtainable when applying standard linear controllers to a hydraulic SISO servo system. The paper furthermore addresses how the performance may be improved by using internal pressure control......In many hydraulic control applications, classic linear controllers are still employed, although there exist a number of number of nonlinear control methods, which may be better suited for handling the intrensic non-linearities often found in hydraulic systems. The focus of this paper is therefore...... and model based information to include feedforward information. The control strategies considered are all based on measurement of piston position and pressure only....

Pressure control device in a BWR type reactor

International Nuclear Information System (INIS)

Nagata, Yoshifumi.

1983-01-01

Purpose: To perform an adequate pressure control with no erroneous scram operation even when the balance of pressure is lost between main steam pipelines. Constitution: Pressure detectors are disposed respectively to a plurality of main steam pipelines and pressure detection values therefrom are inputted into a higher value preference circuit to select a higher value. The deviation between the higher pressure value signal and an aimed value is calculated in an addition circuit and the calculated deviation is inputted to a succeeding higher value preference circuit by way of a servo mechanism as an output from an electronic main steam pressure controller. The above output and the output from another mechanical main steam pressure controller are compared in this circuit to issue a higher value signal to a governer to control the degree of a steam control valve by way of the governor and the servo mechanism. The deviation hereinafter is converged through the same procedures into an aimed predetermined value. (Sekiya, K.)

Maxillary sinus floor elevation via crestal approach: the evolution of the hydraulic pressure technique.

Science.gov (United States)

Lopez, Michele Antonio; Andreasi Bassi, Mirko; Confalone, Luca; Carinci, Francesco

2014-01-01

The current study describes an innovative protocol for the surgical maxillary sinus augmentation via a crestal approach that uses hydraulic pressure to lift the Schneiderian membrane and simultaneously fill the subantral space with a biomaterial for bone regeneration (nanocrystalline hydroxyapatite in aqueous solution). The technique in question combines the advantages of large amounts of grafted biomaterial with reduced trauma, high precision, and predictability.

Electro-chemo-hydro-mechanical coupling in clayey media; Couplage electro-chimio-hydro-mecaniques dans les milieux argileux

Energy Technology Data Exchange (ETDEWEB)

Lemaire, Th

2004-12-15

The aim of this study is to understand coupled phenomena that occur in swelling porous materials like clays. Electro-chemo-hydro-mechanical contributions are taken into account to analyze transfers in such minerals. In a first part, a general discussion is proposed to introduce mineralogical and physico- chemical considerations of clayey media. An important objective of this chapter is to show the crucial role of the microstructure. In a second part is presented an imbibition test in a MX80 bentonite powder. The hydraulic diffusivity versus water content curve's decrease is explained thanks to a double porosity model that shows the progressive collapse of meso-pores due to swelling effects at the micro-scale. Thus a multi-scale analysis is necessary to well describe clayey media behaviour. The third chapter exposes such a multi-scale modelling (periodic homogenization). It is based on the double-layer theory and introduces an innovative concept of virtual electrolyte solution. First numerical results are given in a simple geometry (parallel platelets). In the next part are proposed numerical simulations of two kinds: response of the system to a chemical gradient and simulation of electro-osmosis. The end of this chapter puts into relief the necessity to integrate pH effects in the model. In the last part, chemical surface exchanges are incorporated in the modelling to understand pH and ionic force roles in electro-osmotic process. (author)

Self-potential observations during hydraulic fracturing

Energy Technology Data Exchange (ETDEWEB)

Moore, Jeffrey R.; Glaser, Steven D.

2007-09-13

The self-potential (SP) response during hydraulic fracturing of intact Sierra granite was investigated in the laboratory. Excellent correlation of pressure drop and SP suggests that the SP response is created primarily by electrokinetic coupling. For low pressures, the variation of SP with pressure drop is linear, indicating a constant coupling coefficient (Cc) of -200 mV/MPa. However for pressure drops >2 MPa, the magnitude of the Cc increases by 80% in an exponential trend. This increasing Cc is related to increasing permeability at high pore pressures caused by dilatancy of micro-cracks, and is explained by a decrease in the hydraulic tortuosity. Resistivity measurements reveal a decrease of 2% prior to hydraulic fracturing and a decrease of {approx}35% after fracturing. An asymmetric spatial SP response created by injectate diffusion into dilatant zones is observed prior to hydraulic fracturing, and in most cases this SP variation revealed the impending crack geometry seconds before failure. At rupture, injectate rushes into the new fracture area where the zeta potential is different than in the rock porosity, and an anomalous SP spike is observed. After fracturing, the spatial SP distribution reveals the direction of fracture propagation. Finally, during tensile cracking in a point load device with no water flow, a SP spike is observed that is caused by contact electrification. However, the time constant of this event is much less than that for transients observed during hydraulic fracturing, suggesting that SP created solely from material fracture does not contribute to the SP response during hydraulic fracturing.

The Influence of Hydraulic Fracturing on Carbon Storage Performance

Science.gov (United States)

Fu, Pengcheng; Settgast, Randolph R.; Hao, Yue; Morris, Joseph P.; Ryerson, Frederick J.

2017-12-01

Conventional principles of the design and operation of geologic carbon storage (GCS) require injecting CO2 below the caprock fracturing pressure to ensure the integrity of the storage complex. In nonideal storage reservoirs with relatively low permeability, pressure buildup can lead to hydraulic fracturing of the reservoir and caprock. While the GCS community has generally viewed hydraulic fractures as a key risk to storage integrity, a carefully designed stimulation treatment under appropriate geologic conditions could provide improved injectivity while maintaining overall seal integrity. A vertically contained hydraulic fracture, either in the reservoir rock or extending a limited height into the caprock, provides an effective means to access reservoir volume far from the injection well. Employing a fully coupled numerical model of hydraulic fracturing, solid deformation, and matrix fluid flow, we study the enabling conditions, processes, and mechanisms of hydraulic fracturing during CO2 injection. A hydraulic fracture's pressure-limiting behavior dictates that the near-well fluid pressure is only slightly higher than the fracturing pressure of the rock and is insensitive to injection rate and mechanical properties of the formation. Although a fracture contained solely within the reservoir rock with no caprock penetration, would be an ideal scenario, poroelastic principles dictate that sustaining such a fracture could lead to continuously increasing pressure until the caprock fractures. We also investigate the propagation pattern and injection pressure responses of a hydraulic fracture propagating in a caprock subjected to heterogeneous in situ stress. The results have important implications for the use of hydraulic fracturing as a tool for managing storage performance.

Instance Analysis for the Error of Three-pivot Pressure Transducer Static Balancing Method for Hydraulic Turbine Runner

Science.gov (United States)

Weng, Hanli; Li, Youping

2017-04-01

The working principle, process device and test procedure of runner static balancing test method by weighting with three-pivot pressure transducers are introduced in this paper. Based on an actual instance of a V hydraulic turbine runner, the error and sensitivity of the three-pivot pressure transducer static balancing method are analysed. Suggestions about improving the accuracy and the application of the method are also proposed.

Application to the field of medical and welfare with fluid power; Fluid power servo no iryo fukushi bun`ya eno oyo

Energy Technology Data Exchange (ETDEWEB)

Hayakawa, Y. [Nara Technical Coll., Nara (Japan)

1999-05-15

Reported herein are medical and welfare apparatuses activated by fluid power servos. Reference is also made to equipment now undergoing research and development. Numerous fluid power-driven welfare and caring apparatuses have been developed, some of which are named below. In an externally powered prosthetic leg, a rocking type hydraulic servo actuator is attached on the knee section. In this device, switching is performed between an active operation in which much torque is required for instance going up and down a stairway and a passive operation in which less torque is required for instance walking on a flat place, this for increased energy efficiency. In an externally powered orthosisis, an exoskeleton is installed on the lower extremities of a patient suffering from the paralysis of both legs, and enables physical exercises for rehabilitation. Such devices are controlled by one of the two methods, the master-slave method or the manual method. Devices for the transfer of patients include an in-home bathing assist system, powered assist suit for caring, powered assist chair, movable lift for transfer, pneumatic Rubbertuator-driven rehabilitation equipment, walk training device, and wavy motion pneumatic vibrator. (NEDO)

Active-passive hybrid piezoelectric actuators for high-precision hard disk drive servo systems

Science.gov (United States)

Chan, Kwong Wah; Liao, Wei-Hsin

2006-03-01

Positioning precision is crucial to today's increasingly high-speed, high-capacity, high data density, and miniaturized hard disk drives (HDDs). The demand for higher bandwidth servo systems that can quickly and precisely position the read/write head on a high track density becomes more pressing. Recently, the idea of applying dual-stage actuators to track servo systems has been studied. The push-pull piezoelectric actuated devices have been developed as micro actuators for fine and fast positioning, while the voice coil motor functions as a large but coarse seeking. However, the current dual-stage actuator design uses piezoelectric patches only without passive damping. In this paper, we propose a dual-stage servo system using enhanced active-passive hybrid piezoelectric actuators. The proposed actuators will improve the existing dual-stage actuators for higher precision and shock resistance, due to the incorporation of passive damping in the design. We aim to develop this hybrid servo system not only to increase speed of track seeking but also to improve precision of track following servos in HDDs. New piezoelectrically actuated suspensions with passive damping have been designed and fabricated. In order to evaluate positioning and track following performances for the dual-stage track servo systems, experimental efforts are carried out to implement the synthesized active-passive suspension structure with enhanced piezoelectric actuators using a composite nonlinear feedback controller.

Suppression of mechanical resonance in digital servo system considering oscillation frequency deviation

DEFF Research Database (Denmark)

Chen, Yangyang; Yang, Ming; Hu, Kun

2017-01-01

High-stiffness servo system is easy to cause mechanical resonance in elastic coupling servo system. Although on-line adaptive notch filter is effective in most cases, it will lead to a severer resonance when resonance frequency deviated from the natural torsional frequency. To explain...

Validation of the thermal-hydraulic system code ATHLET based on selected pressure drop and void fraction BFBT tests

Energy Technology Data Exchange (ETDEWEB)

Di Marcello, Valentino, E-mail: valentino.marcello@kit.edu; Escalante, Javier Jimenez; Espinoza, Victor Sanchez

2015-07-15

Highlights: • Simulation of BFBT-BWR steady-state and transient tests with ATHLET. • Validation of thermal-hydraulic models based on pressure drops and void fraction measurements. • TRACE system code is used for the comparative study. • Predictions result in a good agreement with the experiments. • Discrepancies are smaller or comparable with respect to the measurements uncertainty. - Abstract: Validation and qualification of thermal-hydraulic system codes based on separate effect tests are essential for the reliability of numerical tools when applied to nuclear power plant analyses. To this purpose, the Institute for Neutron Physics and Reactor Technology (INR) at the Karlsruhe Institute of Technology (KIT) is involved in various validation and qualification activities of different CFD, sub-channel and system codes. In this paper, the capabilities of the thermal-hydraulic code ATHLET are assessed based on the experimental results provided within the NUPEC BFBT benchmark related to key Boiling Water Reactors (BWR) phenomena. Void fraction and pressure drops measurements in the BFBT bundle performed under steady-state and transient conditions which are representative for e.g. turbine trip and recirculation pump trip events, are compared with the numerical results of ATHLET. The comparison of code predictions with the BFBT data has shown good agreement given the experimental uncertainty and the results are consistent with the trends obtained with similar thermal-hydraulic codes.

Conceptual design of stepper motor replacing servo motor for control rod controller

International Nuclear Information System (INIS)

Mohd Dzul Aiman Aslan; Mohd Idris Taib; Izhar Abu Hussin; Mohd Khairulezwan Abdul Manan; Mohd Sabri Minhat

2010-01-01

In PUSPATI TRIGA Reactor, current control rod controller are using servo motor to control the movement. Control rod is a very important safety element and measure in every nuclear reactor. So, precision is very important in measurement of security in the nuclear reactor. In this case, there are a few disadvantages when using the servo motor is measurement of the motor is not precise. One solution to overcome this is by shifting servo motor with stepper motor. A stepper motor (or step motor) is a brush less, synchronous electric motor that can divide a full rotation into a large number of steps. (author)

Identification and Modeling of Electrohydraulic Force Control of the Material Test System (MTS)

International Nuclear Information System (INIS)

Ruan, J; Pei, X; Zhu, F M

2006-01-01

In the heavy-duty material test device, an electrohydraulic force servo system is usually utilized to load the tested samples. The signal from the pressure sensor is compared with the instruction and the difference between them is then fed to a digital servo valve to form a closed loop control to the target force. The performance of the electrohydraulic force servo system is not only closely related to how accurate to feed the flow rate to the hydraulic cylinder, but also the stiffness of the system which is dominated by the compressibility of oil. Thus the clarification of the characteristic parameters becomes the key of the solution to optimal force control. To identify the electrohydraulic force servo system various step signals are input to excite the dynamic response of the system. From the relationship between the step magnitude and the force response, the system model and the key control parameters are determined. The electrohydraulic force servo system is identified as a first order system with time constant varied with the pressure. Based on the identification of the system optimal control parameters are finally obtained and force rate error is reduced to 0.2% from original 3%

Scientific Research Program for Power, Energy, and Thermal Technologies. Task Order 0002: Power, Thermal and Control Technologies and Processes Experimental Research. Subtask: Laboratory Test Set-up to Evaluate Electromechanical Actuation Systems for Aircraft Flight Control

Science.gov (United States)

2015-08-01

hydraulic pumps generated hydraulic pressure which, in turn, powered the actuator which would move the flight control surface to the desired position...aircraft surface controls. Figure 2 - Electro- hydrostatic Actuator and an Electro-mechanical Actuator [7] In order to have a better...as to have a flat surface for the measurement device to measure position. This method was used in order to eliminate any displacement due to slop

Performance verification and system parameter identification of spacecraft tape recorder control servo

Science.gov (United States)

Mukhopadhyay, A. K.

1979-01-01

Design adequacy of the lead-lag compensator of the frequency loop, accuracy checking of the analytical expression for the electrical motor transfer function, and performance evaluation of the speed control servo of the digital tape recorder used on-board the 1976 Viking Mars Orbiters and Voyager 1977 Jupiter-Saturn flyby spacecraft are analyzed. The transfer functions of the most important parts of a simplified frequency loop used for test simulation are described and ten simulation cases are reported. The first four of these cases illustrate the method of selecting the most suitable transfer function for the hysteresis synchronous motor, while the rest verify and determine the servo performance parameters and alternative servo compensation schemes. It is concluded that the linear methods provide a starting point for the final verification/refinement of servo design by nonlinear time response simulation and that the variation of the parameters of the static/dynamic Coulomb friction is as expected in a long-life space mission environment.

Compact, Lightweight Servo-Controllable Brakes

Science.gov (United States)

Lovchik, Christopher S.; Townsend, William; Guertin, Jeffrey; Matsuoka, Yoky

2010-01-01

Compact, lightweight servo-controllable brakes capable of high torques are being developed for incorporation into robot joints. A brake of this type is based partly on the capstan effect of tension elements. In a brake of the type under development, a controllable intermediate state of torque is reached through on/off switching at a high frequency.

Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities--techniques and applications.

Science.gov (United States)

Azizian, Mahdi; Najmaei, Nima; Khoshnam, Mahta; Patel, Rajni

2015-03-01

Intraoperative application of tomographic imaging techniques provides a means of visual servoing for objects beneath the surface of organs. The focus of this survey is on therapeutic and diagnostic medical applications where tomographic imaging is used in visual servoing. To this end, a comprehensive search of the electronic databases was completed for the period 2000-2013. Existing techniques and products are categorized and studied, based on the imaging modality and their medical applications. This part complements Part I of the survey, which covers visual servoing techniques using endoscopic imaging and direct vision. The main challenges in using visual servoing based on tomographic images have been identified. 'Supervised automation of medical robotics' is found to be a major trend in this field and ultrasound is the most commonly used tomographic modality for visual servoing. Copyright © 2014 John Wiley & Sons, Ltd.

The hydraulics of the pressurized water reactors

International Nuclear Information System (INIS)

Bouchter, J.C.; Barbier, D.; Caruso, A.

1999-01-01

The SFEN organized, the 10 june 1999 at Paris, a meeting in the domain of the PWR hydraulics and in particular the hydraulic phenomena concerning the vessel and the vapor generators. The papers presented showed the importance of the industrial stakes with their associated phenomena: cores performance and safety with the more homogenous cooling system, the rods and the control rods wear, the temperature control, the fluid-structure interactions. A great part was also devoted to the progresses in the domain of the numerical simulation and the models and algorithms qualification. (A.L.B.)

An Energy Efficient Hydraulic Winch Drive Concept Based on a Speed-variable Switched Differential Pump

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben O.; Pedersen, Henrik Clemmensen

2017-01-01

controls. Such solutions are typically constituted by many and rather expensive components, and are furthermore often suffering from low frequency dynamics. In this paper an alternative solution is proposed for winch drive operation, which is based on the so-called speed-variable switched differential pump......, originally designed for direct drive of hydraulic differential cylinders. This concept utilizes three pumps, driven by a single electric servo drive. The concept is redesigned for usage in winch drives, driven by flow symmetric hydraulic motors and single directional loads as commonly seen in e.g. active...... heave compensation applications. A general drive configuration approach is presented, along with a proper control strategy and design. The resulting concept is evaluated when applied for active heave compensation. Results demonstrate control performance on level with conventional valve solutions...

Development of an interface for an ultrareliable fault-tolerant control system and an electronic servo-control unit

Science.gov (United States)

Shaver, Charles; Williamson, Michael

1986-01-01

The NASA Ames Research Center sponsors a research program for the investigation of Intelligent Flight Control Actuation systems. The use of artificial intelligence techniques in conjunction with algorithmic techniques for autonomous, decentralized fault management of flight-control actuation systems is explored under this program. The design, development, and operation of the interface for laboratory investigation of this program is documented. The interface, architecturally based on the Intel 8751 microcontroller, is an interrupt-driven system designed to receive a digital message from an ultrareliable fault-tolerant control system (UFTCS). The interface links the UFTCS to an electronic servo-control unit, which controls a set of hydraulic actuators. It was necessary to build a UFTCS emulator (also based on the Intel 8751) to provide signal sources for testing the equipment.

Comparative study of methods to estimate hydraulic parameters in the hydraulically undisturbed Opalinus Clay (Switzerland)

Energy Technology Data Exchange (ETDEWEB)

Yu, C.; Matray, J.-M. [Institut de Radioprotection et de Sûreté Nucléaire, Fontenay-aux-Roses, (France); Yu, C.; Gonçalvès, J. [Aix Marseille Université UMR 6635 CEREGE Technopôle Environnement Arbois-Méditerranée Aix-en-Provence, Cedex 4 (France); and others

2017-04-15

The deep borehole (DB) experiment gave the opportunity to acquire hydraulic parameters in a hydraulically undisturbed zone of the Opalinus Clay at the Mont Terri rock laboratory (Switzerland). Three methods were used to estimate hydraulic conductivity and specific storage values of the Opalinus Clay formation and its bounding formations through the 248 m deep borehole BDB-1: application of a Poiseuille-type law involving petrophysical measurements, spectral analysis of pressure time series and in situ hydraulic tests. The hydraulic conductivity range in the Opalinus Clay given by the first method is 2 × 10{sup -14}-6 × 10{sup -13} m s{sup -1} for a cementation factor ranging between 2 and 3. These results show low vertical variability whereas in situ hydraulic tests suggest higher values up to 7 × 10{sup -12} m s{sup -1}. Core analysis provides economical estimates of the homogeneous matrix hydraulic properties but do not account for heterogeneities at larger scale such as potential tectonic conductive features. Specific storage values obtained by spectral analysis are consistent and in the order of 10{sup -6} m{sup -1}, while formulations using phase shift and gain between pore pressure signals were found to be inappropriate to evaluate hydraulic conductivity in the Opalinus Clay. The values obtained are globally in good agreement with the ones obtained previously at the rock laboratory. (authors)

Actuation and Control of a Micro Electrohydraulic Digital Servo Valve

Energy Technology Data Exchange (ETDEWEB)

Yu, Z Q; Hu, M J; Pei, X; Ruan, J [MOE Key Laboratory of Mechanical Manufacture and Automation Zhejiang University of Technology, 310014 (China)

2006-10-15

Structure of the micro digital servo valve is given. A micro stepper motor is used as electrical-to-mechanical interface of the valve. A special mechanical device is designed to convert the rotation of the stepper motor into the linear motion of the spool. This moving conversion device functions through an eccentric ball head rigidly connected to the axis of the stepper motor and plugged into a slot at the central spool land. While the stepper motor rotates, the eccentric ball head will actuate the spool to make a linear motion. Unlike conventional servo or proportional valves, in which the spool is forced to central position by a spring force, when the current supply is switched off, the digital valve has a program to control the spool to its central position each time the electrical power supply is switched on or off. The two end screws are used to adjust the position of the sleeve to sustain a mechanical central position coincided with electrical central position given by the stepper motor after initialization. The adjustment has to be carried once before the first time the servo valve is put into service. This paper presents theoretical analysis and experimental study of dynamic characteristics of the proposed micro digital servo valve. Experimental results demonstrated that the valve takes the advantage of high accuracy and fast response.

Actuation and Control of a Micro Electrohydraulic Digital Servo Valve

International Nuclear Information System (INIS)

Yu, Z Q; Hu, M J; Pei, X; Ruan, J

2006-01-01

Structure of the micro digital servo valve is given. A micro stepper motor is used as electrical-to-mechanical interface of the valve. A special mechanical device is designed to convert the rotation of the stepper motor into the linear motion of the spool. This moving conversion device functions through an eccentric ball head rigidly connected to the axis of the stepper motor and plugged into a slot at the central spool land. While the stepper motor rotates, the eccentric ball head will actuate the spool to make a linear motion. Unlike conventional servo or proportional valves, in which the spool is forced to central position by a spring force, when the current supply is switched off, the digital valve has a program to control the spool to its central position each time the electrical power supply is switched on or off. The two end screws are used to adjust the position of the sleeve to sustain a mechanical central position coincided with electrical central position given by the stepper motor after initialization. The adjustment has to be carried once before the first time the servo valve is put into service. This paper presents theoretical analysis and experimental study of dynamic characteristics of the proposed micro digital servo valve. Experimental results demonstrated that the valve takes the advantage of high accuracy and fast response

In Situ Bioremediation of Chlorinated Ethenes in Hydraulically-Tight Sediments: Challenges and Limitations

Science.gov (United States)

Zhang, M.; Yoshikawa, M.; Takeuchi, M.; Komai, T.

2011-12-01

Chlorinated ethenes, like perchloroethene (PCE) and trichloroethene (TCE), have been widely used by many industries, especially in developed countries like Japan. Because of their wide applications, lack of proper regulation, poor handing, storage and disposal practices in the past, chlorinated ethenes have become a type of the most prevalent contaminants for soils and groundwater pollution. For the sake of their degradability, bioremediation has been considered as a potentially cost-effective and environmentally friendly approach for cleanup of chlorinated ethenes in situ. In this presentation, we briefly overview the status of soil and groundwater pollution, the recent amendment of the Soil Contamination Countermeasures Act in Japan, comparison between the bioremediation and other techniques like pump and treat, and the mechanisms of reductive dechlorination, direct oxidation and co-metabolism of chlorinated ethenes. We then introduce and discuss some recent challenges and advancements in in-situ bioremediation including technologies for accelerating bio-degradation of chlorinated ethenes, technologies for assessing diffusive properties of dissolved hydrogen in hydraulically-tight soil samples, and combination of bioremediation with other techniques like electro-kinetic approach. Limiting factors that may cause incomplete remediation and/or ineffectiveness of bioremediation are examined from biochemical, geochemical and hydro-geological aspects. This study reconfirmed and illustrated that: 1) The key factor for an effective bioremediation is how to disperse a proper accelerating agent throughout the polluted strata, 2) The effective diffusion coefficient of dissolved hydrogen in geologic media is relatively big and is almost independent on their permeability, and 3) To effectively design and perform an accelerated bioremediation, a combination of natural migration with pressurized injection and/or other approaches, like electro-migration, for stimulating mass

Robust Control for High-Speed Visual Servoing Applications

DEFF Research Database (Denmark)

Ellekilde, Lars-Peter; Favrholdt, Peter; Paulin, Mads

2007-01-01

This paper presents a new control scheme for visual servoing applications. The approach employs quadratic optimization, and explicitly handles both joint position, velocity and acceleration limits. Contrary to existing techniques, our method does not rely on large safety margins and slow task...... execution to avoid joint limits, and is hence able to exploit the full potential of the robot. Furthermore, our control scheme guarantees a well-defined behavior of the robot even when it is in a singular configuration, and thus handles both internal and external singularities robustly. We demonstrate...... the correctness and efficiency of our approach in a number of visual servoing applications, and compare it to a range of previously proposed techniques....

Implications of the degree of controllability of controlled plants in the sense of LQR optimal control

Science.gov (United States)

Xia, Yaping; Yin, Minghui; Zou, Yun

2018-01-01

In this paper, the relationship between the degree of controllability (DOC) of controlled plants and the corresponding quadratic optimal performance index in LQR control is investigated for the electro-hydraulic synchronising servo control systems and wind turbine systems, respectively. It is shown that for these two types of systems, the higher the DOC of a controlled plant is, the better the quadratic optimal performance index is. It implies that in some LQR controller designs, the measure of the DOC of a controlled plant can be used as an index for the optimisation of adjustable plant parameters, by which the plant can be controlled more effectively.

Estimating Hydraulic Conductivities in a Fractured Shale Formation from Pressure Pulse Testing and 3d Modeling

Science.gov (United States)

Courbet, C.; DICK, P.; Lefevre, M.; Wittebroodt, C.; Matray, J.; Barnichon, J.

2013-12-01

In the framework of its research on the deep disposal of radioactive waste in shale formations, the French Institute for Radiological Protection and Nuclear Safety (IRSN) has developed a large array of in situ programs concerning the confining properties of shales in their underground research laboratory at Tournemire (SW France). One of its aims is to evaluate the occurrence and processes controlling radionuclide migration through the host rock, from the disposal system to the biosphere. Past research programs carried out at Tournemire covered mechanical, hydro-mechanical and physico-chemical properties of the Tournemire shale as well as water chemistry and long-term behaviour of the host rock. Studies show that fluid circulations in the undisturbed matrix are very slow (hydraulic conductivity of 10-14 to 10-15 m.s-1). However, recent work related to the occurrence of small scale fractures and clay-rich fault gouges indicate that fluid circulations may have been significantly modified in the vicinity of such features. To assess the transport properties associated with such faults, IRSN designed a series of in situ and laboratory experiments to evaluate the contribution of both diffusive and advective process on water and solute flux through a clay-rich fault zone (fault core and damaged zone) and in an undisturbed shale formation. As part of these studies, Modular Mini-Packer System (MMPS) hydraulic testing was conducted in multiple boreholes to characterize hydraulic conductivities within the formation. Pressure data collected during the hydraulic tests were analyzed using the nSIGHTS (n-dimensional Statistical Inverse Graphical Hydraulic Test Simulator) code to estimate hydraulic conductivity and formation pressures of the tested intervals. Preliminary results indicate hydraulic conductivities of 5.10-12 m.s-1 in the fault core and damaged zone and 10-14 m.s-1 in the adjacent undisturbed shale. Furthermore, when compared with neutron porosity data from borehole

Quasi-open loop hydraulic ram incremental actuator with power conserving properties

International Nuclear Information System (INIS)

Raymond, E.T.; Robinson, C.W.

1982-01-01

An electric stepping motor, operated by command signals from a computer or a microprocessor, rotates a rotary control member of a distributor valve, for sequencing hydraulic pressure and hence flow to the cylinders of an axial piston hydraulic machine. A group of the cylinders are subjected to pressure and flow and the remaining cylinders are vented to a return line. Rotation of the rotary control valve member sequences pressurization by progressively adding a cylinder to the forward edge to the pressurized group and removing a cylinder from the trailing edge of the pressurized group. The double ended pistons of each new pressurized group function to drive a wobble plate into a new position of equilibrium and then hold it in such position until another change in the makeup of the pressurized group. These pistons also displace hydraulic fluid from the opposite cylinder head which serves as the output of a pumping element. An increment of displacement of the wobble plate occurs in direct response to each command pulse that is received by the stepping motor. Wobble plate displacement drives the rotary valve of the hydraulic power transfer unit, causing it to transfer hydraulic fluid from a first expansible chamber on one side of a piston in a hydraulic ram to a second expansible chamber on the opposite side of the piston. Reverse drive of the hydraulic power transfer unit reverses the direction of transfer of hydraulic fluid between the two expansible chambers

Analysis of hydraulic bearing effect for vertical-shaft pump

International Nuclear Information System (INIS)

Narabayashi, Tadashi; Mawatari, Katsuhiko; Uchida, Ken; Iikura, Takahiko; Hayakawa, Kiyoshi

1999-01-01

In inner-rotating non coaxial cylinders, axial flow causes a hydraulic being effect by which the inner cylinder is put at the center of the axis of the outer cylinder, because of the pressure distribution along the surface of the inner cylinder. When the rotating speed becomes higher, whirl force is generated by the pressure distribution in the narrow gap side. Therefore, pocket-type hydraulic being was added between the rotor and the wearing, based on an experiment and flow analysis. The pockets suck a part of discharged water of a pump and pressurize a water along the rotational direction in the pocket. The pressurized water enhance the hydraulic being effect. The analysis results showed good agreement with the experiments, and the analysis method for the hydraulic being for vertical-shaft pump was established. (author)

Adaptive Sliding Mode Control for Hydraulic Drives

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2013-01-01

This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback...... employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved...

Steady flow torques in a servo motor operated rotary directional control valve

International Nuclear Information System (INIS)

Wang, He; Gong, Guofang; Zhou, Hongbin; Wang, Wei

2016-01-01

Highlights: • A novel servo motor operated rotary directional control valve is proposed. • Steady flow torque is a crucial issue that affects rotary valve performance. • Steady flow torque is analyzed on the aspects of theory, simulation and experiment. • Change law of the steady flow torque with spool rotation angle is explored. • Effect of pressure drop and flow rate on the steady flow torque is studied. - Abstract: In this paper, a servo motor operated rotary directional control valve is proposed, and a systematic analysis of steady flow torques in this valve is provided by theoretical calculation, CFD simulation and experimental test. In the analysis, spool rotation angle corresponding to the maximum orifice opening is tagged as 0°. Over a complete change cycle of the orifice, the range of spool rotation angle is symmetric about 0°. The results show that the direction of steady flow torques in this valve is always the direction of orifice closing. The steady flow torques serve as resistances to the spool rotation when the orifice opening increases, while impetuses to the spool rotation when the orifice opening decreases. At a certain pressure drop or flow rate, steady flow torques are approximately equal and opposite when at spool rotation angles which are symmetric about 0°. When the spool rotates from 0°, at a certain pressure drop, their values increase first then decrease with the spool rotation and reach their maximum values at an angle corresponding to about 1/2 of the maximum orifice opening, and at a certain flow rate, their values increase with the spool rotation. The steady flow torques in this valve are the sums of those in the meter-in and meter-out valve chambers. At a certain spool rotation angle, steady flow torques in the meter-in and meter-out valve chambers are approximately proportional to the pressure drop and the second power of the flow rate through the orifice. Theoretical calculation and CFD simulation can be validated by

Cavitation in Hydraulic Machinery

Energy Technology Data Exchange (ETDEWEB)

Kjeldsen, M.

1996-11-01

The main purpose of this doctoral thesis on cavitation in hydraulic machinery is to change focus towards the coupling of non-stationary flow phenomena and cavitation. It is argued that, in addition to turbulence, superimposed sound pressure fluctuations can have a major impact on cavitation and lead to particularly severe erosion. For the design of hydraulic devices this finding may indicate how to further limit the cavitation problems. Chapter 1 reviews cavitation in general in the context of hydraulic machinery, emphasizing the initial cavitation event and the role of the water quality. Chapter 2 discusses the existence of pressure fluctuations for situations common in such machinery. Chapter 3 on cavitation dynamics presents an algorithm for calculating the nucleation of a cavity cluster. Chapter 4 describes the equipment used in this work. 53 refs., 55 figs.,10 tabs.

Predicting the Occurrence of Hydraulic Fracture in Grouting Operations Based on the Pressure in the Penetrated Cement Grout

Directory of Open Access Journals (Sweden)

Hassan Bakhshandeh Amnieh

2017-12-01

Full Text Available Cement grouting is an operation often carried out to consolidate and seal the rock mass in dam sites and tunnels. The quality and efficiency of a grouting operation depends on various factors such as water take, grout properties and grouting pressure. One of the parameters which have the highest effect is pressure since the application of excessive pressure causes the hydraulic fracture phenomenon to occur in the rock mass and too little pressure leads to incomplete grouting and failure to seal the site in a perfect manner. Mathematical modeling is used for the first time in this study to predict and determine the optimum pressure. Thus, the joints that exist in the rock mass are simulated using cylindrical shell model. The joint surroundings are also modeled through Pasternak environment. To obtain equations governing the joints and the surroundings, energy method is used accompanied by Hamilton principle. In the end, an analytical solution method is used to obtain the maximum grouting pressure. In order to validate the modeling, the grouting pressure values obtained by the model were used in the sites of Seymareh and Aghbolagh dams and the relative error rates were measured considering the differences between calculated and actual pressures. Modeling in the examined sections of Seymareh dam showed 29.61, 5.57, 21.98, 32.50 and 9.09 percent error rates and in the sections of Aghbolagh dam it rendered the values of 4.32, 5.40 and 2.96 percent. The results indicate that this modeling can be used to estimate the amount of pressure for hydraulic fracture in grouting, to predict it and to prevent it.

Robust sampled-data control of hydraulic flight control actuators

OpenAIRE

Kliffken, Markus Gustav

1997-01-01

In todays flight-by-wire systems the primary flight control surfaces of modern commercial and transport aircraft are driven by electro hydraulic linear actuators. Changing flight conditions as well as nonlinear actuator dynamics may be interpreted as parameter uncertainties of the linear actuator model. This demands a robust design for the controller. Here the parameter space design is used for the direct sampled-data controller synthesis. Therefore, a static output controller is choosen, the...

Research of performance prediction to energy on hydraulic turbine

International Nuclear Information System (INIS)

Quan, H; Li, R N; Li, Q F; Han, W; Su, Q M

2012-01-01

Refer to the low specific speed Francis turbine blade design principle and double-suction pump structure. Then, design a horizontal double-channel hydraulic turbine Francis. Through adding different guide vane airfoil and and no guide vane airfoil on the hydraulic conductivity components to predict hydraulic turbine energy and using Fluent software to numerical simulation that the operating conditions and point. The results show that the blade pressure surface and suction surface pressure is low when the hydraulic turbine installation is added standard positive curvature of the guide vane and modified positive curvature of guide vane. Therefore, the efficiency of energy recovery is low. However, the pressure of negative curvature guide vane and symmetric guide vane added on hydraulic turbine installations is larger than that of the former ones, and it is conducive to working of runner. With the decreasing of guide vane opening, increasing of inlet angle, flow state gets significantly worse. Then, others obvious phenomena are that the reflux and horizontal flow appeared in blade pressure surface. At the same time, the vortex was formed in Leaf Road, leading to the loss of energy. Through analyzing the distribution of pressure, velocity, flow lines of over-current flow in the the back hydraulic conductivity components in above programs we can known that the hydraulic turbine installation added guide vane is more reasonable than without guide vanes, it is conducive to improve efficiency of energy conversion.

A deterministic - approach controller design for electrohydraulic position servo control system

International Nuclear Information System (INIS)

Johari Osman

2000-01-01

This paper is concerned with the design of a tracking controller for controlling electrohydraulic position servo system based on a deterministic approach. The system is treated as an uncertain system with bounded uncertainties where the bounds are assumed known. It will be shown that the electrohydraulic position servo systems with the proposed controller is practically stable and tracks the desired position in spite of the uncertainties and nonlinearities present in the system (author)

Horizontal steam generator thermal-hydraulics

Energy Technology Data Exchange (ETDEWEB)

Ubra, O. [SKODA Praha Company, Prague (Czechoslovakia); Doubek, M. [Czech Technical Univ., Prague (Czechoslovakia)

1995-09-01

Horizontal steam generators are typical components of nuclear power plants with pressure water reactor type VVER. Thermal-hydraulic behavior of horizontal steam generators is very different from the vertical U-tube steam generator, which has been extensively studied for several years. To contribute to the understanding of the horizontal steam generator thermal-hydraulics a computer program for 3-D steady state analysis of the PGV-1000 steam generator has been developed. By means of this computer program, a detailed thermal-hydraulic and thermodynamic study of the horizontal steam generator PGV-1000 has been carried out and a set of important steam generator characteristics has been obtained. The 3-D distribution of the void fraction and 3-D level profile as functions of load and secondary side pressure have been investigated and secondary side volumes and masses as functions of load and pressure have been evaluated. Some of the interesting results of calculations are presented in the paper.

Material characterization and evaluation of Fyrquel effect on the metal part of filters in a system EHC; Caracterizacion del material y evaluacion del efecto del Fyrquel en la parte metalica de filtros en un sistema EHC

Energy Technology Data Exchange (ETDEWEB)

Diaz S, A.; Zenteno S, J.; Robles P, E.; Contreras R, A.; Arganis J, C. [ININ, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico); Griz C, M., E-mail: angeles.diaz@inin.gob.mx [Comision Federal de Electricidad, Central Nucleoelectrica Laguna Verde, Carretera Cardel-Nautla Km. 42.5, Veracruz (Mexico)

2014-10-15

In recent years, unexpected stoppages in power plants have been associated with problems in electro-hydraulic control systems (EHC) which generally operate with fluids to high pressure resistant to fire, but sensitive to the presence of water and contaminants that can promote damage and malfunction of government and discharge valves. The analysis here presented was performed to two filters prior to the servo valves of an EHC system that came out of service as a result of damage to these components. The study is based on analysis and inspection of metal and filter elements of these devices, integrating both chemical characterization by energy-dispersive X-ray spectroscopy of waste as materials that comprise both filters. The assessment made allowed documenting a poor design of the devices, same that promoted the stagnant fluid (Fyrquel), locally modifying the chemical composition of the medium, prompting the activation of auto-catalytic degradation processes that acidified the environment; the acid ph solutions began in susceptible sites of electrochemical corrosion processes which increased the Fyrquel contamination. (Author)

Material characterization and evaluation of Fyrquel effect on the metal part of filters in a system EHC

International Nuclear Information System (INIS)

Diaz S, A.; Zenteno S, J.; Robles P, E.; Contreras R, A.; Arganis J, C.; Griz C, M.

2014-10-01

In recent years, unexpected stoppages in power plants have been associated with problems in electro-hydraulic control systems (EHC) which generally operate with fluids to high pressure resistant to fire, but sensitive to the presence of water and contaminants that can promote damage and malfunction of government and discharge valves. The analysis here presented was performed to two filters prior to the servo valves of an EHC system that came out of service as a result of damage to these components. The study is based on analysis and inspection of metal and filter elements of these devices, integrating both chemical characterization by energy-dispersive X-ray spectroscopy of waste as materials that comprise both filters. The assessment made allowed documenting a poor design of the devices, same that promoted the stagnant fluid (Fyrquel), locally modifying the chemical composition of the medium, prompting the activation of auto-catalytic degradation processes that acidified the environment; the acid ph solutions began in susceptible sites of electrochemical corrosion processes which increased the Fyrquel contamination. (Author)

[Magnetic Fe₃O₄Microparticles Conditioning-Pressure Electro-osmotic Dewatering (MPEOD) of Sewage Sludge].

Science.gov (United States)

Qian, Xu; Wang, Yi-li; Zhao, Li

2016-05-15

For magnetic Fe₃O₄ microparticles conditioning--pressure electro-osmotic dewatering (MPEOD) process of activated sludge (AS), the effects of operating parameters (optimal dosage of Fe₃O₄, electric field duration, mechanical pressure and voltage) on the dewatering efficiency and energy consumption were investigated, and the optimal conditions were determined. Moreover, the properties of supernatant and sludge along MPEOD process were studied as well as the interaction force between the sludge biosolids. Taking the energy consumption into consideration, the results showed that the optimal dewatering effect for AS could be achieved with a magnetic Fe₃O₄ microparticles dosage of 0.15 g · g⁻¹, an electric field duration of 2 h, a mechanical pressure of 400-600 kPa and a voltage of 30-50 V. When MPEOD was conducted at 400 kPa and 50 V for 2 h, the sludge reduction rate reached 98.30%, the percentage of water removal was 99.34% and the moisture content of AS decreased from 99.18% to 44.46%. The corresponding consumption of energy was 0.013 3 kW · h · kg⁻¹. The coagulation mechanism played a slight role in the AS conditioning with magnetic Fe₃O₄ micro-particles. In fact, magnetic Fe₃O₄micro-particles could greatly decrease the acid-base interaction (WA) between AS biosolids, cause floc growth and enlarge pores in AS aggregates, which will be beneficial to AS dewatering. Compared to DLVO theory, the extended DLVO theory could accurately describe the aggregation and dispersion behavior of sludge particles.

Visual Servoing of Mobile Microrobot with Centralized Camera

Directory of Open Access Journals (Sweden)

Kiswanto Gandjar

2018-01-01

Full Text Available In this paper, a mechanism of visual servoing for mobile microrobot with a centralized camera is developed. Especially for the development of swarm AI applications. In the fields of microrobots the size of robots is minimal and the amount of movement is also small. By replacing various sensors that is needed with a single centralized vision sensor we can eliminate a lot of components and the need for calibration on every robot. A study and design for a visual servoing mobile microrobot has been developed. This system can use multi object tracking and hough transform to identify the positions of the robots. And can control multiple robots at once with an accuracy of 5-6 pixel from the desired target.

Active Vibration Isolation Devices with Inertial Servo Actuators

Science.gov (United States)

Melik-Shakhnazarov, V. A.; Strelov, V. I.; Sofiyanchuk, D. V.; Tregubenko, A. A.

2018-03-01

The use of active vibration isolation devices (AVIDs) in aerospace engineering is subject to the following restrictions. First, the volume for installing additional devices is always limited in instrument racks and compartments. Secondly, in many cases, it is impossible to add supports for servo actuators for fundamental or design considerations. In the paper, it has been shown that this problem can be solved if the inertial servo actuators are used in AVIDs instead of reference actuators. A transfer function has been theoretically calculated for an AVID controlled by inertial actuators. It has been shown that the volume of a six-mode single-housing AVID with inertial actuators can be 2-2.5 times smaller than that of devices with support actuators.

Pressure, flow and hydraulic interference measurements in ONKALO at Olkiluoto, drillholes ONK-PP262 and ONK-PP274

International Nuclear Information System (INIS)

Hurmerinta, E.; Pekkanen, J.; Komulainen, J.; Rouhiainen, P.

2012-01-01

The general purpose of these studies is to characterize the fracture network and groundwater flow properties in a volume of rock, which is representative of the rock close to deposition holes. As a part of the studies hydraulic tests and flow measurements were applied in two drillholes in hydraulically poorly conductive bedrock. This report presents the principles of the methods as well as the results of the measurements carried out in the underground facilities of ONKALO. The measurements were conducted in drillholes ONK-PP262 and ONK-PP274 between May 9, 2010 and June 9, 2011. The aim of the measurements was to obtain pressure in the closed drillholes, to detect water yielding fractures by flow measurements, to obtain transmissivity with overpressure and drawdown tests and to study hydraulic interference between the drillholes by cross-hole hydraulic tests. The PFL DIFF probe was used to detect flow within single fractures in the drillhole. Transmissive water yielding fractures were found at depths 17.9 m, 16.9 m and 16.4 m in ONK-PP262 and at depths 19.8 m and 19.5 m in ONK-PP274. The cross-hole hydraulic tests included three basic phases. Flow was measured in one drillhole when the other drillhole was open, closed or overpressurized. The cross-hole hydraulic tests were carried out to both directions in the two drillholes. (orig.)

Design of the Driving and Clamp Rotation Hydraulic Control System for the Heavy Load Forging Manipulator

Directory of Open Access Journals (Sweden)

Li Geqiang

2015-01-01

Full Text Available The manipulator was equipped with full hydraulic drive. We designed the hydraulic systems for the driving and clamping rotation. We used a fuzzy PID control strategy to design the electro-hydraulic proportional control system. We built a united simulation model based on the co-simulation of MATLAB/Simulink and AMEsim. A mathematical model of the system was also established. We did separate simulations of the system’s dynamic characteristics for fast forging and normal forging working conditions. The parameters were optimized. The field test shows that the steady-state error of the hydraulic system is small and the system response is fast. The system’s rapid response speed, high precision, and stability under heavy load were realized.

Variable friction device for structural control based on duo-servo vehicle brake: Modeling and experimental validation

Science.gov (United States)

Cao, Liang; Downey, Austin; Laflamme, Simon; Taylor, Douglas; Ricles, James

2015-07-01

Supplemental damping can be used as a cost-effective method to reduce structural vibrations. In particular, passive systems are now widely accepted and have numerous applications in the field. However, they are typically tuned to specific excitations and their performances are bandwidth-limited. A solution is to use semi-active devices, which have shown to be capable of substantially enhanced mitigation performance. The authors have recently proposed a new type of semi-active device, which consists of a variable friction mechanism based on a vehicle duo-servo drum brake, a mechanically robust and reliable technology. The theoretical performance of the proposed device has been previously demonstrated via numerical simulations. In this paper, we further the understanding of the device, termed Modified Friction Device (MFD) by fabricating a small scale prototype and characterizing its dynamic behavior. While the dynamics of friction is well understood for automotive braking technology, we investigate for the first time the dynamic behavior of this friction mechanism at low displacements and velocities, in both forward and backward directions, under various hydraulic pressures. A modified 3-stage dynamic model is introduced. A LuGre friction model is used to characterize the friction zone (Stage 1), and two pure stiffness regions to characterize the dynamics of the MFD once the rotation is reversed and the braking shoes are sticking to the drum (Stage 2) and the rapid build up of forces once the shoes are held by the anchor pin (Stage 3). The proposed model is identified experimentally by subjecting the prototype to harmonic excitations. It is found that the proposed model can be used to characterize the dynamics of the MFD, and that the largest fitting error arises at low velocity under low pressure input. The model is then verified by subjecting the MFD to two different earthquake excitations under different pressure inputs. The model is capable of tracking the

Solution to the incompatibility between reactor protection logic and turbine shot logic. Scram by high pressure; Solucion a la incompatibilidad entre logica de proteccion de reactor y logica de disparo de turbina. SCRAM por alta presion

Energy Technology Data Exchange (ETDEWEB)

Ramos Q, R.; Santiago F, C.; Gonzalez P, G., E-mail: ruben.ramos01@cfe.gob.mx [Comision Federal de Electricidad, Central Nuclear Laguna Verde, Subgerencia de Ingenieria, Carretera Cardel-Nautla Km. 42.5, Alto Lucero, Veracruz (Mexico)

2013-10-15

The nuclear power plant of Laguna Verde carried out the Modernization and Increase of Extended Power Project in its two Units (2005-2011). This modernization included to the electro-hydraulic control system of the main turbine, replacing an ana logical system by one digital (Digital Electro-hydraulic Control - DEHC) whose functions are of controlling the reactor pressure in the different operation ways as wells as of controlling the velocity and load of the main turbine. Also, it has protections that are related with diverse plant systems, as the Reactor Protection Systems (RPS). During the tests stage was realized a programmed load rejection, which Reactor Scram should cause when being presented the shot of main turbine. However, the logic of the RPS was inhibited due to the quick response of the new control DEHC, propitiating a condition of non prospective plant and, in consequence, the Reactor Scram happened for another protection of the RPS. (author)

Electro-chemo-hydro-mechanical coupling in clayey media

International Nuclear Information System (INIS)

Lemaire, Th.

2004-12-01

The aim of this study is to understand coupled phenomena that occur in swelling porous materials like clays. Electro-chemo-hydro-mechanical contributions are taken into account to analyze transfers in such minerals. In a first part, a general discussion is proposed to introduce mineralogical and physico- chemical considerations of clayey media. An important objective of this chapter is to show the crucial role of the microstructure. In a second part is presented an imbibition test in a MX80 bentonite powder. The hydraulic diffusivity versus water content curve's decrease is explained thanks to a double porosity model that shows the progressive collapse of meso-pores due to swelling effects at the micro-scale. Thus a multi-scale analysis is necessary to well describe clayey media behaviour. The third chapter exposes such a multi-scale modelling (periodic homogenization). It is based on the double-layer theory and introduces an innovative concept of virtual electrolyte solution. First numerical results are given in a simple geometry (parallel platelets). In the next part are proposed numerical simulations of two kinds: response of the system to a chemical gradient and simulation of electro-osmosis. The end of this chapter puts into relief the necessity to integrate pH effects in the model. In the last part, chemical surface exchanges are incorporated in the modelling to understand pH and ionic force roles in electro-osmotic process. (author)

Magnetic particle clutch controls servo system

Science.gov (United States)

Fow, P. B.

1973-01-01

Magnetic clutches provide alternative means of driving low-power rate or positioning servo systems. They may be used over wide variety of input speed ranges and weigh comparatively little. Power drain is good with overall motor/clutch efficiency greater than 50 percent, and gain of clutch is close to linear, following hysteresis curve of core and rotor material.

A computer-based servo system for controlling isotonic contractions of muscle.

Science.gov (United States)

Smith, J P; Barsotti, R J

1993-11-01

We have developed a computer-based servo system for controlling isotonic releases in muscle. This system is a composite of commercially available devices: an IBM personal computer, an analog-to-digital (A/D) board, an Akers AE801 force transducer, and a Cambridge Technology motor. The servo loop controlling the force clamp is generated by computer via the A/D board, using a program written in QuickBASIC 4.5. Results are shown that illustrate the ability of the system to clamp the force generated by either skinned cardiac trabeculae or single rabbit psoas fibers down to the resolution of the force transducer within 4 ms. This rate is independent of the level of activation of the tissue and the size of the load imposed during the release. The key to the effectiveness of the system consists of two algorithms that are described in detail. The first is used to calculate the error signal to hold force to the desired level. The second algorithm is used to calculate the appropriate gain of the servo for a particular fiber and the size of the desired load to be imposed. The results show that the described computer-based method for controlling isotonic releases in muscle represents a good compromise between simplicity and performance and is an alternative to the custom-built digital/analog servo devices currently being used in studies of muscle mechanics.

On Application of Second Order Sliding Mode Control to Electro-Hydraulic Systems

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2014-01-01

This paper discusses the application of second order mode controls to hydraulic valve-cylinder drives with a special focus on the limitations resulting from nonlinear dynamic effects in flow control valves. Second order sliding mode algorithms appear highly attractive in the successive...

Hydraulic experiment on evaluation method of tsunami wave pressure using inundation depth and velocity in front of land structure

International Nuclear Information System (INIS)

Arimitsu, Tsuyoshi; Ooe, Kazuya; Kawasaki, Koji

2012-01-01

Hydraulic experiments were conducted to estimate tsunami wave pressure acting on several different types of land structures and examine the influence of a seawall in front of the structure on tsunami wave pressure. Wave pressures were measured at some points on the structure. The existing hydrostatic formula tended to underestimate tsunami wave pressure under the condition of inundation flow with large Froude number. Estimation method of tsunami wave pressure using inundation depth and horizontal velocity at the front of the structure was proposed based on the experimental results. It was confirmed from comparison with the experiments that the vertical distribution of the maximum tsunami wave pressure can be reproduced by employing the proposed method in this study. (author)

Removal of PAHs from contaminated clayey soil by means of electro-osmosis

KAUST Repository

Lima, Ana T.

2011-06-01

The removal of polycyclic aromatic hydrocarbons (PAHs) from clayey soils is an intricate task. The low porosity of compacted clayey soil hinders bacterial activity and makes convective removal by hydraulic flow impossible. Electro-osmosis is a process that has been used for the mobilization and cleanup of contaminants in clayey soils with varying successes. The present study focuses on the remediation of a contaminated peaty clay soil, located in Olst - the Netherlands, by means of electro-osmosis. The soil was originally contaminated by an asphalt production plant, active from 1903 to 1983, and presents high levels of all 16 priority PAHs indicated by the US Environmental Protection Agency (EPA). Such a long contact times of PAH with the soil (≥100 years) presents a unique study material with well established solid/liquid contaminant partitioning equilibrium, preferable to artificially spiked soil. A batch of 6 electro-osmosis laboratory experiments was carried out to study the removal of 16 PAHs through electro-osmosis. In these experiments, water and a surfactant (Tween 80) were used to enhance the PAH desorption. The electro-osmotic conductivities ranged from 2.88 × 10-10 to a substantial 1.19 × 10-7 m2 V-1 s -1 when applying a current density of 0.005-0.127 A m-2. Electro-osmosis was expected to occur towards the cathode, because of natural soil characteristics (negative zeta potential), but presented scattered directions. The use of reference electrodes proved to be very effective to the prediction of the flow direction. Finally, the addition of Tween 80 as a surfactant enhanced PAH removal up to 30% of the total PAH content of the soil in 9 days. © 2011 Elsevier B.V.

Hydraulic regenerative system for a light vehicle

OpenAIRE

Orpella Aceret, Jordi; Guinart Trayter, Xavier

2009-01-01

The thesis is based in a constructed light vehicle that must be improved by adding a hydraulic energy recovery system. This vehicle named as TrecoLiTH, participated in the Formula Electric and Hybrid competition (Formula EHI) 2009 in Italy -Rome- and won several awards. This system consists in two hydraulic motors hub mounted which are used to store fluid at high pressure in an accumulator when braking. Through a valve the pressure will flow from the high pressure accumulator to the low press...

Development and Applications of a General Coupled Thermal-hydraulic/Neutronic Model for the Ringhals-3 Pressurized Water Reactor

International Nuclear Information System (INIS)

Staalek, Mathias

2008-03-01

Coupled calculations are important for the simulation of nuclear power plants when there is a strong feedback between the neutron kinetics and the thermal-hydraulics. A general coupled model of the Ringhals-3 Pressurized Water Reactor has been developed for this purpose. The development is outlined in the thesis with details given in the appended papers. A PARCS model was developed for the core calculations and a RELAP5 model for the thermal-hydraulic calculations. The RELAP5 model has 157 channels for modelling the flow in the fuel assemblies. This means that there is a one-one correspondence radially between the neutronic and thermal-hydraulic nodalization. This detailed mapping between the neutron kinetics and the thermal-hydraulics makes it possible to use the model for all kinds of transient. To provide realistic material data to the PARCS model, a cross-section interface was developed. With this interface one can import material data from a binary CASMO-4 library file into PARCS. Due to the one-to-one mapping, any any core loading can easily be considered. The PARCS model was benchmarked against measurements of the steady-state power distribution of Ringhals-3. The power shape was well reproduced by the model. Validational work for steady-state conditions of the thermal-hydraulic was also successfully performed. The most challenging part of the validation of a coupled model is for transients. This is much more difficult since the dynamics of the system becomes very important. Two transients that occurred at Ringhals-3 were chosen for the validational work. The first transient was a Load Rejection Transient. In general the model gave good results but some problems were experienced, e.g. the pressurizer pressure turned out to be more difficult to be correctly simulated. The second transient was a Loss of Feed Water transient. A malfunctioning feed water control valve closed, and therefore shut down the feed water supply to the steam generator in one of the

Development and Applications of a General Coupled Thermal-hydraulic/Neutronic Model for the Ringhals-3 Pressurized Water Reactor

Energy Technology Data Exchange (ETDEWEB)

Staalek, Mathias

2008-03-15

Coupled calculations are important for the simulation of nuclear power plants when there is a strong feedback between the neutron kinetics and the thermal-hydraulics. A general coupled model of the Ringhals-3 Pressurized Water Reactor has been developed for this purpose. The development is outlined in the thesis with details given in the appended papers. A PARCS model was developed for the core calculations and a RELAP5 model for the thermal-hydraulic calculations. The RELAP5 model has 157 channels for modelling the flow in the fuel assemblies. This means that there is a one-one correspondence radially between the neutronic and thermal-hydraulic nodalization. This detailed mapping between the neutron kinetics and the thermal-hydraulics makes it possible to use the model for all kinds of transient. To provide realistic material data to the PARCS model, a cross-section interface was developed. With this interface one can import material data from a binary CASMO-4 library file into PARCS. Due to the one-to-one mapping, any any core loading can easily be considered. The PARCS model was benchmarked against measurements of the steady-state power distribution of Ringhals-3. The power shape was well reproduced by the model. Validational work for steady-state conditions of the thermal-hydraulic was also successfully performed. The most challenging part of the validation of a coupled model is for transients. This is much more difficult since the dynamics of the system becomes very important. Two transients that occurred at Ringhals-3 were chosen for the validational work. The first transient was a Load Rejection Transient. In general the model gave good results but some problems were experienced, e.g. the pressurizer pressure turned out to be more difficult to be correctly simulated. The second transient was a Loss of Feed Water transient. A malfunctioning feed water control valve closed, and therefore shut down the feed water supply to the steam generator in one of the

Hydraulic Design Criteria for Spacer Grids of Nuclear Fuel Element

International Nuclear Information System (INIS)

Juanico, Luis; Brasnarof, Daniel

2000-01-01

In this paper a hydraulic model for calculating the pressure drop on the CARA spacer grids is extended.This model is validated and feedback from experimental hydraulic test performed in a low pressure loop.The importance of the spacer grid geometric parameter (that is, its thickness and length, the number and kind of their fix spacer), developing hydraulic design criteria for spacer grid on fuel element

Investigations into the use of water glycol as the hydraulic fluid in a servo system

International Nuclear Information System (INIS)

Cole, G.V.

1984-07-01

The effects of water glycol on the performance of a hydraulic system and on the life of the system components have been investigated and a guide to the design of systems using water glycol is given. The dynamic performance of the system using water-glycol was compared with that using mineral oil, then the system was endurance tested to determine its service life. (author)

Vibration of hydraulic machinery

CERN Document Server

Wu, Yulin; Liu, Shuhong; Dou, Hua-Shu; Qian, Zhongdong

2013-01-01

Vibration of Hydraulic Machinery deals with the vibration problem which has significant influence on the safety and reliable operation of hydraulic machinery. It provides new achievements and the latest developments in these areas, even in the basic areas of this subject. The present book covers the fundamentals of mechanical vibration and rotordynamics as well as their main numerical models and analysis methods for the vibration prediction. The mechanical and hydraulic excitations to the vibration are analyzed, and the pressure fluctuations induced by the unsteady turbulent flow is predicted in order to obtain the unsteady loads. This book also discusses the loads, constraint conditions and the elastic and damping characters of the mechanical system, the structure dynamic analysis, the rotor dynamic analysis and the system instability of hydraulic machines, including the illustration of monitoring system for the instability and the vibration in hydraulic units. All the problems are necessary for vibration pr...

Hydraulic testing in crystalline rock

International Nuclear Information System (INIS)

Almen, K.E.; Andersson, J.E.; Carlsson, L.; Hansson, K.; Larsson, N.A.

1986-12-01

Swedish Geolocical Company (SGAB) conducted and carried out single-hole hydraulic testing in borehole Fi 6 in the Finnsjoen area of central Sweden. The purpose was to make a comprehensive evaluation of different methods applicable in crystalline rocks and to recommend methods for use in current and scheduled investigations in a range of low hydraulic conductivity rocks. A total of eight different methods of testing were compared using the same equipment. This equipment was thoroughly tested as regards the elasticity of the packers and change in volume of the test section. The use of a hydraulically operated down-hole valve enabled all the tests to be conducted. Twelve different 3-m long sections were tested. The hydraulic conductivity calculated ranged from about 5x10 -14 m/s to 1x10 -6 m/s. The methods used were water injection under constant head and then at a constant rate-of-flow, each of which was followed by a pressure fall-off period. Water loss, pressure pulse, slug and drill stem tests were also performed. Interpretation was carried out using standard transient evaluation methods for flow in porous media. The methods used showed themselves to be best suited to specific conductivity ranges. Among the less time-consuming methods, water loss, slug and drill stem tests usually gave somewhat higher hydraulic conductivity values but still comparable to those obtained using the more time-consuming tests. These latter tests, however, provided supplementary information on hydraulic and physical properties and flow conditions, together with hydraulic conductivity values representing a larger volume of rock. (orig./HP)

Combined hydraulic and biomass power - an answer to economic and ecological adaptation pressure on the energy supply system

International Nuclear Information System (INIS)

Pistauer, M.

1991-01-01

On the large scale, there will be an economic pressure in the European Communities on coal and oil from the CO 2 taxes. The economic and ecological advantages of a combination of hydraulic and biomass power in Austria are emphasized. In particular a biomass remote heating pilot project is announced. (Quittner)

Preterm infant thermal care: differing thermal environments produced by air versus skin servo-control incubators.

Science.gov (United States)

Thomas, K A; Burr, R

1999-06-01

Incubator thermal environments produced by skin versus air servo-control were compared. Infant abdominal skin and incubator air temperatures were recorded from 18 infants in skin servo-control and 14 infants in air servo-control (26- to 29-week gestational age, 14 +/- 2 days postnatal age) for 24 hours. Differences in incubator and infant temperature, neutral thermal environment (NTE) maintenance, and infant and incubator circadian rhythm were examined using analysis of variance and scatterplots. Skin servo-control resulted in more variable air temperature, yet more stable infant temperature, and more time within the NTE. Circadian rhythm of both infant and incubator temperature differed by control mode and the relationship between incubator and infant temperature rhythms was a function of control mode. The differences between incubator control modes extend beyond temperature stability and maintenance of NTE. Circadian rhythm of incubator and infant temperatures is influenced by incubator control.

DC motors and servo-motors controlled by Raspberry Pi 2B

Directory of Open Access Journals (Sweden)

Šustek Michal

2017-01-01

Full Text Available The expanding capabilities of today’s microcontrollers and other devices lead to an increased utilization of these technologies in diverse fields. The automation and issue of remote control of moving objects belong to these fields. In this project, a microcontroller Raspberry Pi 2B was chosen for controlling DC motors and servo-motors. This paper provides basic insight into issue of controlling DC motors and servo-motors, connection between Raspberry and other components on breadboard and programming syntaxes for controlling motors in Python programming language.

Application of prediction of equilibrium to servo-controlled calorimetry measurements

International Nuclear Information System (INIS)

Mayer, R.L. II

1987-01-01

Research was performed to develop an endpoint prediction algorithm for use with calorimeters operating in the digital servo-controlled mode. The purpose of this work was to reduce calorimetry measurement times while maintaining the high degree of precision and low bias expected from calorimetry measurements. Data from routine operation of two calorimeters were used to test predictive models at each stage of development against time savings, precision, and robustness criteria. The results of the study indicated that calorimetry measurement times can be significantly reduced using this technique. The time savings is, however, dependent on parameters in the digital servo-control algorithm and on packaging characteristics of measured items

Effects of transmembrane hydraulic pressure on performance of forward osmosis membranes.

Science.gov (United States)

Coday, Bryan D; Heil, Dean M; Xu, Pei; Cath, Tzahi Y

2013-03-05

Forward osmosis (FO) is an emerging membrane separation process that continues to be tested and implemented in various industrial water and wastewater treatment applications. The growing interests in the technology have prompted laboratories and manufacturers to adopt standard testing methods to ensure accurate comparison of membrane performance under laboratory-controlled conditions; however, standardized methods might not capture specific operating conditions unique to industrial applications. Experiments with cellulose triacetate (CTA) and polyamide thin-film composite (TFC) FO membranes demonstrated that hydraulic transmembrane pressure (TMP), common in industrial operation of FO membrane elements, could affect membrane performance. Experiments were conducted with three FO membranes and with increasing TMP up to a maximum of 50 psi (3.45 bar). The feed solution was a mixture of salts and the draw solution was either a NaCl solution or concentrated seawater at similar osmotic pressure. Results revealed that TMP minimally affected water flux, reverse salt flux (RSF), and solute rejection of the CTA membrane. However, water flux through TFC membranes might slightly increase with increasing TMP, and RSF substantially declines with increasing TMP. It was observed that rejection of feed constituents was influenced by TMP and RSF.

Turbogas control unit using a hydraulic interface; Control de una unidad turbogas usando una interfase hidraulica

Energy Technology Data Exchange (ETDEWEB)

Ramirez Palacios, Ignacio Ramon; Castelo Cuevas, Luis [Instituto de Investigaciones Electricas, Cuernavaca, Morelos (Mexico)]. E-mail: irrp@iie.org.mx; lcastelo@iie.org.mx; Escarcega Navarrete, Luis [Servi-Control Monterrey S.A. de C.V., Monterrey, Nuevo Leon (Mexico)]. E-mail: lescarcega@servicontrol.com

2010-11-15

This paper presents the design and implementation of the control system of the Turbo Generator Unit (TGU) GE 5001, placed in Laguna Chavez power generation facility in Gomez Palacio, Dgo., Mexico. This TGU had been operating with an old control system, back to the 70's. The positioning of the control valves was carried out using a complex electro-hydraulic system. For the modernization of the control system, we use latest PLC technology and a current to pressure converter to communicate the PLC with the hydraulic control valves. The new control system helped us to obtain a best response at the start and generation phases, as well as an increase in the availability of the unit. We show the old and the new control architectures besides plot results obtained at the different operation points. [Spanish] En este articulo se presenta la implementacion y diseno del sistema de control de una Unidad Turbogas (UTG) GE-5001 de la Central Turbogas Laguna Chavez de CFE ubicada en Gomez Palacio, Durango, la cual originalmente era controlada mediante un sistema de control con tecnologia de los anos 70's. El posicionamiento de las valvulas de control se realizaba mediante un sistema electro-hidraulico complejo. Para la modernizacion del sistema de control a uno con tecnologia de punta fue necesario utilizar una interfase hidraulica por medio de un convertidor de corriente/presion (I/P) para el posicionamiento de las valvulas originales. Con la modernizacion se mejoro la respuesta del control asi como el incremento de la disponibilidad de la unidad. Se presentan la arquitectura anterior y actual de sistema de control asi como graficas de los resultados obtenidos en diferentes puntos de operacion de la UTG.

Dynamic behaviour of AA 2024 under blast loading : experiments and simulations

NARCIS (Netherlands)

Mediavilla Varas, J.; Soetens, F.; van der Meulen, Ronald; Kroon, E.; Aanhold, van J.E.; Soetens, F.; Katgerman, L.

2010-01-01

The dynamic behaviour of AA2024-T3 is investigated. Dynamic tensile tests using a servo-hydraulic and a light weight shock testing machine (LSM) have been performed. The servo-hydraulic test machine proves to be more reliable and reaches higher strain rates. Neither test revealed any strain rate

Design method for marine direct drive volume control ahead actuator

Directory of Open Access Journals (Sweden)

WANG Haiyang

2018-02-01

Full Text Available [Objectives] In order to reduce the size, weight and auxiliary system configuration of marine ahead actuators, this paper proposes a kind of direct drive volume control electro-hydraulic servo ahead actuator. [Methods] The protruding and indenting control of the servo oil cylinder are realized through the forward and reverse of the bidirectional working gear pump, and the flow matching valve implements the self-locking of the ahead actuator in the target position. The mathematical model of the ahead actuator is established, and an integral separation fuzzy PID controller designed. On this basis, using AMESim software to build a simulation model of the ahead actuator, and combined with testing, this paper completes an analysis of the control strategy research and dynamic and static performance of the ahead actuator. [Results] The experimental results agree well with the simulation results and verify the feasibility of the ahead actuator's design. [Conclusions] The research results of this paper can provide valuable references for the integration and miniaturization design of marine ahead actuators.

The effect of vapour pressure deficit on stomatal conductance, sap pH and leaf-specific hydraulic conductance in Eucalyptus globulus clones grown under two watering regimes.

Science.gov (United States)

Hernandez, Maria Jose; Montes, Fernando; Ruiz, Federico; Lopez, Gustavo; Pita, Pilar

2016-05-01

Stomatal conductance has long been considered of key interest in the study of plant adaptation to water stress. The expected increase in extreme meteorological events under a climate change scenario may compromise survival in Eucalyptus globulus plantations established in south-western Spain. We investigated to what extent changes in stomatal conductance in response to high vapour pressure deficits and water shortage are mediated by hydraulic and chemical signals in greenhouse-grown E. globulus clones. Rooted cuttings were grown in pots and submitted to two watering regimes. Stomatal conductance, shoot water potential, sap pH and hydraulic conductance were measured consecutively in each plant over 4 weeks under vapour pressure deficits ranging 0·42 to 2·25 kPa. Evapotranspiration, growth in leaf area and shoot biomass were also determined. There was a significant effect of both clone and watering regime in stomatal conductance and leaf-specific hydraulic conductance, but not in sap pH. Sap pH decreased as water potential and stomatal conductance decreased under increasing vapour pressure deficit. There was no significant relationship between stomatal conductance and leaf-specific hydraulic conductance. Stomata closure precluded shoot water potential from falling below -1·8 MPa. The percentage loss of hydraulic conductance ranged from 40 to 85 %. The highest and lowest leaf-specific hydraulic conductances were measured in clones from the same half-sib families. Water shortage reduced growth and evapotranspiration, decreases in evapotranspiration ranging from 14 to 32 % in the five clones tested. Changes in sap pH seemed to be a response to changes in atmospheric conditions rather than soil water in the species. Stomata closed after a considerable amount of hydraulic conductance was lost, although intraspecific differences in leaf-specific hydraulic conductance suggest the possibility of selection for improved productivity under water-limiting conditions

Control system for the feed of pressurized fluid in a hydraulic circuit as a function of the state of the locking or unlocking of two mechanical organs

International Nuclear Information System (INIS)

Huet, Y.; Perichon, C.

1985-01-01

The control system comprises two hydraulic cylinders of which rods are integral with the mechanical organs. The piston of the first cylinder separates the chamber of this one in two parts. The piston of the second cylinder separates its chamber in three parts. The inlet chamber of the two cylinders are connected to pressurized fluid feed pipes, and the outlet chambers to a depressurization pipe. According to the position of the piston depending itself on the state of locking or unlocking of the rods, an interconnection pipe and a feed pipe of the pressurized fluid hydraulic circuit communicate with a chamber or another one. The feed of the hydraulic circuit is possible only the two rods are unlocked. The invention applies more particularly to the feed of the control circuit of an emergency seal of the primary pump of a pressurized water nuclear reactor [fr

Modelling of Moving Coil Actuators in Fast Switching Valves Suitable for Digital Hydraulic Machines

DEFF Research Database (Denmark)

Nørgård, Christian; Roemer, Daniel Beck; Bech, Michael Møller

2015-01-01

an estimation of the eddy currents generated in the actuator yoke upon current rise, as they may have significant influence on the coil current response. The analytical model facilitates fast simulation of the transient actuator response opposed to the transient electro-magnetic finite element model which......The efficiency of digital hydraulic machines is strongly dependent on the valve switching time. Recently, fast switching have been achieved by using a direct electromagnetic moving coil actuator as the force producing element in fast switching hydraulic valves suitable for digital hydraulic...... machines. Mathematical models of the valve switching, targeted for design optimisation of the moving coil actuator, are developed. A detailed analytical model is derived and presented and its accuracy is evaluated against transient electromagnetic finite element simulations. The model includes...

Electro photographic materials

International Nuclear Information System (INIS)

Buzdugan, A.; Andries, A.; Iovu, M.

2000-01-01

The invention relates to the creation of electro photographic materials . The invention allows to extend the material photosensitivity into the infrared range of the spectrum. An electro photographic materials contains an electro conducting base, including a dielectric base 1, for example glass, an electro conducting layer 2, for example of Al, Ni, Cr, an injecting layer 3, consisting of amorphous indium phosphide, a vitreous layer 4 of the arsenic sulphide - antimony sulphide system and a transporting layer 5 of the arsenic sulphide or arsenic selenide

Slope instability caused by small variations in hydraulic conductivity

Science.gov (United States)

Reid, M.E.

1997-01-01

Variations in hydraulic conductivity can greatly modify hillslope ground-water flow fields, effective-stress fields, and slope stability. In materials with uniform texture, hydraulic conductivities can vary over one to two orders of magnitude, yet small variations can be difficult to determine. The destabilizing effects caused by small (one order of magnitude or less) hydraulic conductivity variations using ground-water flow modeling, finite-element deformation analysis, and limit-equilibrium analysis are examined here. Low hydraulic conductivity materials that impede downslope ground-water flow can create unstable areas with locally elevated pore-water pressures. The destabilizing effects of small hydraulic heterogeneities can be as great as those induced by typical variations in the frictional strength (approximately 4??-8??) of texturally similar materials. Common "worst-case" assumptions about ground-water flow, such as a completely saturated "hydrostatic" pore-pressure distribution, do not account for locally elevated pore-water pressures and may not provide a conservative slope stability analysis. In site characterization, special attention should be paid to any materials that might impede downslope ground-water flow and create unstable regions.

Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

International Nuclear Information System (INIS)

Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

2015-01-01

A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

Dynamic Analysis & Characterization of Conventional Hydraulic Power Supply Units

DEFF Research Database (Denmark)

Schmidt, Lasse; Liedhegener, Michael; Bech, Michael Møller

2016-01-01

Hydraulic power units operated as constant supply pres-sure systems remain to be widely used in the industry, to supply valve controlled hydraulic drives etc., where the hydraulic power units are constituted by variable pumps with mechanical outlet pressure control, driven by induction motors....... In the analysis of supplied drives, both linear and rotary, emphasis is commonly placed on the drives themselves and the related loads, and the supply system dynamics is often given only little attention, and usually neglected or taken into account in a simplified fashion. The simplified supply system dynamics...... and drives will reduce the flow-to-pressure gain of the supply system, and hence increase the time constant of the sup-ply pressure dynamics. A consequence of this may be large vari-ations in the supply pressure, hence large variations in the pump shaft torque, and thereby the induction motor load torque...

Fusing Simulation Results From Multifidelity Aero-servo-elastic Simulators - Application To Extreme Loads On Wind Turbine

DEFF Research Database (Denmark)

Abdallah, Imad; Sudret, Bruno; Lataniotis, Christos

2015-01-01

Fusing predictions from multiple simulators in the early stages of the conceptual design of a wind turbine results in reduction in model uncertainty and risk mitigation. Aero-servo-elastic is a term that refers to the coupling of wind inflow, aerodynamics, structural dynamics and controls. Fusing...... the response data from multiple aero-servo-elastic simulators could provide better predictive ability than using any single simulator. The co-Kriging approach to fuse information from multifidelity aero-servo-elastic simulators is presented. We illustrate the co-Kriging approach to fuse the extreme flapwise...... bending moment at the blade root of a large wind turbine as a function of wind speed, turbulence and shear exponent in the presence of model uncertainty and non-stationary noise in the output. The extreme responses are obtained by two widely accepted numerical aero-servo-elastic simulators, FAST...

Theoretical study of hydraulic jump during circular horizontal hot leg injection in pressurized water reactor

International Nuclear Information System (INIS)

El Hawary, Shehab; Abu-Elyazeed, Osayed S.M.; Fahmy, Adel Alyan; Meglaa, Khairy

2016-01-01

Highlights: • The model is developed to predict the occurrence of onset hydraulic jump in a circular pipe. • Theoretical results are in agreement with experimental results and theory. • Effects of diameter of the injection pipe, Froude number and injected coolant mass are studied. - Abstract: One important phenomenon occurring during Loss of Coolant Accident (LOCA) is Counter-Current Flow Limitation (CCFL). The incidence of such CCFL is introduced by the onset of hydraulic jump. In the present work, a one dimensional model was modified to fit circular hot channel. The model was used to study the factors affecting the initial Froude number, the location of the occurrence of the hydraulic jump, and the critical coolant flow depth during circular horizontal hot leg injection in US-APWR Mitsubishi Reactor. The results showed good agreement with published experimental data of the Upper Plenum Test Facility (UPTF) at Mannheim, Germany. It was found that higher injected coolant mass flow rate increases the initial Froude number, the location of the occurrence of the hydraulic jump, and the critical injection depth divided by the diameter of the injection pipe. Such behavior is thought to be due to the increase of the inertia force by increasing of the injected coolant mass flow rate and the inverse of the diameter of the injection pipe. It was found also that, the location of the occurrence of hydraulic jump increases with decreasing load effect. Therefore, these results reveal that the avoidance of CCFL as well as hydraulic jump through hot leg at maximum load can be achieved by decreasing the distance between the injection point and the pressure vessel to below 0.3 m, and with diameter of 4 in (10.16 cm) as the design diameter of the injection pipe in US-APWR Mitsubishi Reactor. Moreover, the maximum critical depth (56 cm) is less than the diameter of the hot leg (78.74 cm) at an injected coolant mass flow of 400 kg/s, and with diameter of 4 in (10.16 cm) as the

Analysis and Design of Double-sided Air core Linear Servo Motor with Trapezoidal Permanent Magnets

DEFF Research Database (Denmark)

Zhang, Yuqiu; Yang, Zilong; Yu, Minghu

2011-01-01

In order to reduce the thrust ripple of linear servo system, a double-sided air core permanent magnet linear servo motor with trapezoidal shape permanent magnets (TDAPMLSM) is proposed in this paper. An analytical model of the motor for predicting the magnetic field in the air-gap at no...

Control rod driving hydraulic device

International Nuclear Information System (INIS)

Sugano, Hiroshi.

1993-01-01

In a control rod driving hydraulic device for an improved BWR type reactor, a bypass pipeline is disposed being branched from a scram pipeline, and a control orifice and a throttle valve are interposed to the bypass pipeline for restricting pressure. Upon occurrence of scram, about 1/2 of water quantity flowing from an accumulator of a hydraulic control unit to the lower surface of a piston of control rod drives by way of a scram pipeline is controlled by the restricting orifice and the throttle valve, by which the water is discharged to a pump suction pipeline or other pipelines by way of the bypass pipeline. With such procedures, a function capable of simultaneously conducting scram for two control rod drives can be attained by one hydraulic control unit. Further, an excessive peak pressure generated by a water hammer phenomenon in the scram pipeline or the control rod drives upon occurrence of scram can be reduced. Deformation and failure due to the excessive peak pressure can be prevented, as well as vibrations and degradation of performance of relevant portions can be prevented. (N.H.)

Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

Directory of Open Access Journals (Sweden)

Huangsheng Xie

2014-01-01

Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

Method to Estimate the Dissolved Air Content in Hydraulic Fluid

Science.gov (United States)

Hauser, Daniel M.

2011-01-01

In order to verify the air content in hydraulic fluid, an instrument was needed to measure the dissolved air content before the fluid was loaded into the system. The instrument also needed to measure the dissolved air content in situ and in real time during the de-aeration process. The current methods used to measure the dissolved air content require the fluid to be drawn from the hydraulic system, and additional offline laboratory processing time is involved. During laboratory processing, there is a potential for contamination to occur, especially when subsaturated fluid is to be analyzed. A new method measures the amount of dissolved air in hydraulic fluid through the use of a dissolved oxygen meter. The device measures the dissolved air content through an in situ, real-time process that requires no additional offline laboratory processing time. The method utilizes an instrument that measures the partial pressure of oxygen in the hydraulic fluid. By using a standardized calculation procedure that relates the oxygen partial pressure to the volume of dissolved air in solution, the dissolved air content is estimated. The technique employs luminescent quenching technology to determine the partial pressure of oxygen in the hydraulic fluid. An estimated Henry s law coefficient for oxygen and nitrogen in hydraulic fluid is calculated using a standard method to estimate the solubility of gases in lubricants. The amount of dissolved oxygen in the hydraulic fluid is estimated using the Henry s solubility coefficient and the measured partial pressure of oxygen in solution. The amount of dissolved nitrogen that is in solution is estimated by assuming that the ratio of dissolved nitrogen to dissolved oxygen is equal to the ratio of the gas solubility of nitrogen to oxygen at atmospheric pressure and temperature. The technique was performed at atmospheric pressure and room temperature. The technique could be theoretically carried out at higher pressures and elevated

Visual servo control for a human-following robot

CSIR Research Space (South Africa)

Burke, Michael G

2011-03-01

Full Text Available This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control...

Hydraulic pressure pulses with elastic and plastic structural flexibility: test and analysis (LWBR Development Program)

International Nuclear Information System (INIS)

Schwirian, R.E.

1978-03-01

Pressure pulse tests were conducted with a flexible test section in a test vessel filled with room temperature water. The pressure pulses were generated with a drop hammer and piston pulse generator and were of a sufficient magnitude to cause plastic deformation of the test section. Because of the strong pressure relief effect of the deforming test section, pressure pulse magnitudes were below 265 psig in magnitude and had durations of 50 to 55 msecs. Calculations performed with the FLASH-35 bi-linear hysteresis model of structural deformation show good agreement with experiment. In particular, FLASH 35 adequately predicts the decrease in peak pressure and the increase in pulse duration due to elastic and plastic deformation of the test section. Predictions of flexible member motion are good, but are less satisfactory than the pressure pulse results due to uncertainties in the values of yield point and beyond yield stiffness used to model the various flexible members. Coupled with this is a strong sensitivity of the FLASH 35 predictions to the values of yield point and beyond yield stiffness chosen for the various flexible members. The test data versus calculation comparisons presented here provide preliminary qualification for FLASH 35 calculations of transient hydraulic pressures and pressure differentials in the presence of flexible structural members which deform both elastically and plastically

Application of IFT and SPSA to servo system control.

Science.gov (United States)

Rădac, Mircea-Bogdan; Precup, Radu-Emil; Petriu, Emil M; Preitl, Stefan

2011-12-01

This paper treats the application of two data-based model-free gradient-based stochastic optimization techniques, i.e., iterative feedback tuning (IFT) and simultaneous perturbation stochastic approximation (SPSA), to servo system control. The representative case of controlled processes modeled by second-order systems with an integral component is discussed. New IFT and SPSA algorithms are suggested to tune the parameters of the state feedback controllers with an integrator in the linear-quadratic-Gaussian (LQG) problem formulation. An implementation case study concerning the LQG-based design of an angular position controller for a direct current servo system laboratory equipment is included to highlight the pros and cons of IFT and SPSA from an application's point of view. The comparison of IFT and SPSA algorithms is focused on an insight into their implementation.

Averaging hydraulic head, pressure head, and gravitational head in subsurface hydrology, and implications for averaged fluxes, and hydraulic conductivity

Directory of Open Access Journals (Sweden)

G. H. de Rooij

2009-07-01

Full Text Available Current theories for water flow in porous media are valid for scales much smaller than those at which problem of public interest manifest themselves. This provides a drive for upscaled flow equations with their associated upscaled parameters. Upscaling is often achieved through volume averaging, but the solution to the resulting closure problem imposes severe restrictions to the flow conditions that limit the practical applicability. Here, the derivation of a closed expression of the effective hydraulic conductivity is forfeited to circumvent the closure problem. Thus, more limited but practical results can be derived. At the Representative Elementary Volume scale and larger scales, the gravitational potential and fluid pressure are treated as additive potentials. The necessary requirement that the superposition be maintained across scales is combined with conservation of energy during volume integration to establish consistent upscaling equations for the various heads. The power of these upscaling equations is demonstrated by the derivation of upscaled water content-matric head relationships and the resolution of an apparent paradox reported in the literature that is shown to have arisen from a violation of the superposition principle. Applying the upscaling procedure to Darcy's Law leads to the general definition of an upscaled hydraulic conductivity. By examining this definition in detail for porous media with different degrees of heterogeneity, a series of criteria is derived that must be satisfied for Darcy's Law to remain valid at a larger scale.

Non-stationary flow of hydraulic oil in long pipe

Directory of Open Access Journals (Sweden)

Hružík Lumír

2014-03-01

Full Text Available The paper deals with experimental evaluation and numerical simulation of non-stationary flow of hydraulic oil in a long hydraulic line. Non-stationary flow is caused by a quick closing of valves at the beginning and the end of the pipe. Time dependence of pressure is measured by means of pressure sensors at the beginning and the end of the pipe. A mathematical model of a given circuit is created using Matlab SimHydraulics software. The long line is simulated by means of segmented pipe. The simulation is verified by experiment.

Hydraulic safety margins and embolism reversal in stems and leaves: Why are conifers and angiosperms so different?

Science.gov (United States)

Daniel M. Johnson; Katherine A. McCulloh; David R. Woodruff; Frederick C. Meinzer

2012-01-01

Angiosperm and coniferous tree species utilize a continuum of hydraulic strategies. Hydraulic safety margins (defined as differences between naturally occurring xylem pressures and pressures that would cause hydraulic dysfunction, or differences between pressures resulting in loss of hydraulic function in adjacent organs (e.g., stems vs. leaves) tend to be much greater...

Application of prediction of equilibrium to servo-controlled calorimetry measurements

International Nuclear Information System (INIS)

Mayer, R.L. II.

1987-01-01

Research was performed to develop an endpoint prediction algorithm for use with calorimeters operating in the digital servo-controlled mode. The purpose of this work was to reduce calorimetry measurement times while maintaining the high degree of precision and low bias expected from calorimetry measurements. Data from routine operation of two calorimeters were used to test predictive models at each stage of development against time savings, precision, and robustness criteria. The results of the study indicated that calorimetry measurement times can be significantly reduced using this technique. The time savings is, however, dependent on parameters in the digital servo-control algorithm and on packaging characteristics of measured items. 7 refs., 4 figs., 1 tab

Visual-servoing optical microscopy

Science.gov (United States)

Callahan, Daniel E.; Parvin, Bahram

2009-06-09

The present invention provides methods and devices for the knowledge-based discovery and optimization of differences between cell types. In particular, the present invention provides visual servoing optical microscopy, as well as analysis methods. The present invention provides means for the close monitoring of hundreds of individual, living cells over time: quantification of dynamic physiological responses in multiple channels; real-time digital image segmentation and analysis; intelligent, repetitive computer-applied cell stress and cell stimulation; and the ability to return to the same field of cells for long-term studies and observation. The present invention further provides means to optimize culture conditions for specific subpopulations of cells.

Hydraulics and pneumatics a technician's and engineer's guide

CERN Document Server

Parr, Andrew

1991-01-01

Hydraulics and Pneumatics: A Technician's and Engineer's Guide provides an introduction to the components and operation of a hydraulic or pneumatic system. This book discusses the main advantages and disadvantages of pneumatic or hydraulic systems.Organized into eight chapters, this book begins with an overview of industrial prime movers. This text then examines the three different types of positive displacement pump used in hydraulic systems, namely, gear pumps, vane pumps, and piston pumps. Other chapters consider the pressure in a hydraulic system, which can be quickly and easily controlled

Nonlinear Dynamical Analysis of Hydraulic Turbine Governing Systems with Nonelastic Water Hammer Effect

Directory of Open Access Journals (Sweden)

Junyi Li

2014-01-01

Full Text Available A nonlinear mathematical model for hydroturbine governing system (HTGS has been proposed. All essential components of HTGS, that is, conduit system, turbine, generator, and hydraulic servo system, are considered in the model. Using the proposed model, the existence and stability of Hopf bifurcation of an example HTGS are investigated. In addition, chaotic characteristics of the system with different system parameters are studied extensively and presented in the form of bifurcation diagrams, time waveforms, phase space trajectories, Lyapunov exponent, chaotic attractors, and Poincare maps. Good correlation can be found between the model predictions and theoretical analysis. The simulation results provide a reasonable explanation for the sustained oscillation phenomenon commonly seen in operation of hydroelectric generating set.

The feasibility and reliability of capillary blood pressure measurements in the fingernail fold

NARCIS (Netherlands)

de Graaff, Jurgen C.; Ubbink, Dirk Th; Lagarde, Sjoerd M.; Jacobs, Michael J. H. M.

2002-01-01

Capillary blood pressure is an essential parameter in the study of the (patho-)physiology of microvascular perfusion. Currently, capillary pressure measurements in humans are performed using a servo-nulling micropressure system containing an oil-water interface, which suffers some drawbacks. In

Thermal-hydraulic tests for reactor safety system

International Nuclear Information System (INIS)

Chun, Se Young; Chung, Moon Ki; Baek, Won Pil

2002-05-01

Tests for the safety depressurization system, Sparger adopted for the Korean next generation reactor, APR1400 are carried out for several geometries with the B and C (Blowdown and Condensation) facility in the condition of high temperature and pressure and with a small test facility in the condition of atmospheric temperature and pressure. Tests for the critical heat flux are performed with the RCS(Reactor Coolant System) facility as well as with the Freon CHF Loop in the condition of high temperature and pressure. The atmospheric temperature and pressure facility is utilized for development of the high standard thermal hydraulic measurement technology. The optical method is developed to measure the local thermal-hydraulic behavior for the single and two-phase boiling phenomena

Application of RELAP5/MOD3.3 to Calculate Thermal Hydraulic Behavior of the Pressurizer Safety Valve Performance Test Facility

Energy Technology Data Exchange (ETDEWEB)

Kim, Chang Hyun; Kim, Young Ae; Oh, Seung Jong; Park, Jong Woon [Korea Hydro and Nuclear Power Co., Ltd., Daejeon (Korea, Republic of)

2007-10-15

The increase of the acceptance tolerance of Pressurizer Safety Valve (PSV) test is vital for the safe operation of nuclear power plants because the frequent tests may make the valves decrepit and become a cause of leak. Recently, Korea Hydro and Nuclear Power Company (KHNP) is building a PSV performance test facility to provide the technical background data for the relaxation of the acceptance tolerance of PSV including the valve pop-up characteristics and the loop seal dynamics (if the plant has the loop seal in the upstream of PSV). The discharge piping and supports must be designed to withstand severe transient hydrodynamic loads when the safety valve actuates. The evaluation of hydrodynamic loads is a two-step process: first the thermal hydraulic behavior in the piping must be defined, and then the hydrodynamic loads are calculated from the thermal hydraulic parameters such as pressure and mass flow. The hydrodynamic loads are used as input to the structural analysis.

A Hydraulic Motor-Alternator System for Ocean-Submersible Vehicles

Science.gov (United States)

Aintablian, Harry O.; Valdez, Thomas I.; Jones, Jack A.

2012-01-01

An ocean-submersible vehicle has been developed at JPL that moves back and forth between sea level and a depth of a few hundred meters. A liquid volumetric change at a pressure of 70 bars is created by means of thermal phase change. During vehicle ascent, the phase-change material (PCM) is melted by the circulation of warm water and thus pressure is increased. During vehicle descent, the PCM is cooled resulting in reduced pressure. This pressure change is used to generate electric power by means of a hydraulic pump that drives a permanent magnet (PM) alternator. The output energy of the alternator is stored in a rechargeable battery that powers an on-board computer, instrumentation and other peripherals.The focus of this paper is the performance evaluation of a specific hydraulic motor-alternator system. Experimental and theoretical efficiency data of the hydraulic motor and the alternator are presented. The results are used to evaluate the optimization of the hydraulic motor-alternator system. The integrated submersible vehicle was successfully operated in the Pacific Ocean near Hawaii. A brief overview of the actual test results is presented.

MA-23-6000: underwater bilateral servo master slave manipulator

International Nuclear Information System (INIS)

Vertut, Jean

The different types of manipulators, recent data on their dexterity and the underwater work possible with servo master slave manipulators are reviewed. The general specifications of the manipulator MA 23-6000 designed for the machine ERIC II are given [fr

Hydraulic nuts (HydraNuts) for reactor vessel tensioning

International Nuclear Information System (INIS)

Greenwell, Steve

2008-01-01

The paper will present how the introduction of hydraulic nuts - HydraNuts, has reduced critical path times, dose exposure for workers and improved working safety conditions around the reactor vessel during tensioning or de-tensioning operations. It will focus upon detailing the advantages realized by utilities that have introduced the technology and providing examples of the improvements made to the process as well as discussing the engineering design change packages required to make the conversion to the new system. HydraNuts replace the traditional mechanical nut/stud tensioning equipment, combining the two functions into a single system, designed for easy installation and operation by one individual. The primary components of the HydraNut can be assembled without the need for external crane or hoist support and are designed so that each sub assembly can be fitted separately. Once all HydraNuts are fitted to the Rx vessel studs and are sitting on the main Rx vessel head flange, then a system of flexible hydraulic hoses is connected to them, forming a closed loop hydraulic harness, which will allow for simultaneous pressurization of all HydraNuts. Hydraulic pressure is obtained by the use of a hydraulic pumping unit and the resultant load generated in each HydraNut is transferred to the stud and main flange closure is obtained. While maintaining hydraulic pressure, a locking ring is rotated into place on the HydraNut assembly that will support the tensioned load mechanically when the hydraulic pressure is released from the hose harness assembly. The hose harness is removed and the HydraNut is now functioning as a mechanical nut retaining the tensioned load. The HydraNut system for Rx vessel applications was first introduced into a plant in the U.S. in October 2006 and based upon the benefits realized subsequent projects are under way within the Asian and U.S. operating fleet. (author)

Cloud-based Networked Visual Servo Control

OpenAIRE

Wu, Haiyan; Lu, Lei; Chen, Chih-Chung; Hirche, Sandra; Kühnlenz, Kolja

2013-01-01

The performance of vision-based control systems, in particular of highly dynamic vision-based motion control systems, is often limited by the low sampling rate of the visual feedback caused by the long image processing time. In order to overcome this problem, the networked visual servo control, which integrates networked computational resources for cloud image processing, is considered in this article. The main contributions of this article are i) a real-time transport protocol for transmitti...

A HISTORICAL PERSPECTIVE OF NUCLEAR THERMAL HYDRAULICS

Energy Technology Data Exchange (ETDEWEB)

D’Auria, F; Rohatgi, Upendra S.

2017-01-12

The nuclear thermal-hydraulics discipline was developed following the needs for nuclear power plants (NPPs) and, to a more limited extent, research reactors (RR) design and safety. As in all other fields where analytical methods are involved, nuclear thermal-hydraulics took benefit of the development of computers. Thermodynamics, rather than fluid dynamics, is at the basis of the development of nuclear thermal-hydraulics together with the experiments in complex two-phase situations, namely, geometry, high thermal density, and pressure.

Electro-Deposition Laboratory

Data.gov (United States)

Federal Laboratory Consortium — The electro-deposition laboratory can electro-deposit various coatings onto small test samples and bench level prototypes. This facility provides the foundation for...

GPU-Based Computation of Formation Pressure for Multistage Hydraulically Fractured Horizontal Wells in Tight Oil and Gas Reservoirs

Directory of Open Access Journals (Sweden)

Rongwang Yin

2018-01-01

Full Text Available A mathematical model for multistage hydraulically fractured horizontal wells (MFHWs in tight oil and gas reservoirs was derived by considering the variations in the permeability and porosity of tight oil and gas reservoirs that depend on formation pressure and mixed fluid properties and introducing the pseudo-pressure; analytical solutions were presented using the Newman superposition principle. The CPU-GPU asynchronous computing model was designed based on the CUDA platform, and the analytic solution was decomposed into infinite summation and integral forms for parallel computation. Implementation of this algorithm on an Intel i5 4590 CPU and NVIDIA GT 730 GPU demonstrates that computation speed increased by almost 80 times, which meets the requirement for real-time calculation of the formation pressure of MFHWs.

3D Numerical Simulation versus Experimental Assessment of Pressure Pulsations Using a Passive Method for Swirling Flow Control in Conical Diffusers of Hydraulic Turbines

Science.gov (United States)

TANASA, C.; MUNTEAN, S.; CIOCAN, T.; SUSAN-RESIGA, R. F.

2016-11-01

The hydraulic turbines operated at partial discharge (especially hydraulic turbines with fixed blades, i.e. Francis turbine), developing a swirling flow in the conical diffuser of draft tube. As a result, the helical vortex breakdown, also known in the literature as “precessing vortex rope” is developed. A passive method to mitigate the pressure pulsations associated to the vortex rope in the draft tube cone of hydraulic turbines is presented in this paper. The method involves the development of a progressive and controlled throttling (shutter), of the flow cross section at the bottom of the conical diffuser. The adjustable cross section is made on the basis of the shutter-opening of circular diaphragms, while maintaining in all positions the circular cross-sectional shape, centred on the axis of the turbine. The stagnant region and the pressure pulsations associated to the vortex rope are mitigated when it is controlled with the turbine operating regime. Consequently, the severe flow deceleration and corresponding central stagnant are diminished with an efficient mitigation of the precessing helical vortex. Four cases (one without diaphragm and three with diaphragm), are numerically and experimentally investigated, respectively. The present paper focuses on a 3D turbulent swirling flow simulation in order to evaluate the control method. Numerical results are compared against measured pressure recovery coefficient and Fourier spectra. The results prove the vortex rope mitigation and its associated pressure pulsations when employing the diaphragm.

Determining the Conditions for the Hydraulic Impacts Emergence at Hydraulic Systems

Directory of Open Access Journals (Sweden)

Mazurenko A.S.

2017-08-01

Full Text Available This research aim is to develop a method for modeling the conditions for the critical hydrau-lic impacts emergence on thermal and nuclear power plants’ pipeline systems pressure pumps depart-ing from the general provisions of the heat and hydrodynamic instability theory. On the developed method basis, the conditions giving rise to the reliability-critical hydraulic impacts emergence on pumps for the thermal and nuclear power plants’ typical pipeline system have been determined. With the flow characteristic minimum allowable (critical sensitivity, the flow velocity fluctuations ampli-tude reaches critical values at which the pumps working elements’ failure occurs. The critical hydrau-lic impacts emergence corresponds to the transition of the vibrational heat-hydrodynamic instability into an aperiodic one. As research revealed, a highly promising approach as to the preventing the criti-cal hydraulic impacts related to the foreground use of pumps having the most sensitive consumption (at supply network performance (while other technical characteristics corresponding to that parame-ter. The research novelty refers to the suggested method elaborated by the authors’ team, which, in contrast to traditional approaches, is efficient in determining the pump hydraulic impact occurrence conditions when the vibrational heat-hydrodynamic instability transition to the aperiodic instability.

Effectiveness of electro-fencing for restricting the ranging behaviour ...

African Journals Online (AJOL)

Here, we assessed the effectiveness of electro-fencing for restricting movement patterns of several wild ungulates in Akagera National Park (NP), Rwanda. Following the turmoil of the Rwandan genocide and civil war (1991–1995), large numbers of returning war refugees brought about an increasing pressure on land use, ...

Evaluating transient performance of servo mechanisms by analysing stator current of PMSM

Science.gov (United States)

Zhang, Qing; Tan, Luyao; Xu, Guanghua

2018-02-01

Smooth running and rapid response are the desired performance goals for the transient motions of servo mechanisms. Because of the uncertain and unobservable transient behaviour of servo mechanisms, it is difficult to evaluate their transient performance. Under the effects of electromechanical coupling, the stator current signals of a permanent-magnet synchronous motor (PMSM) potentially contain the performance information regarding servo mechanisms in use. In this paper, a novel method based on analysing the stator current of the PMSM is proposed for quantifying the transient performance. First, a vector control model is constructed to simulate the stator current behaviour in the transient processes of consecutive speed changes, consecutive load changes, and intermittent start-stops. It is discovered that the amplitude and frequency of the stator current are modulated by the transient load torque and motor speed, respectively. The stator currents under different performance conditions are also simulated and compared. Then, the stator current is processed using a local means decomposition (LMD) algorithm to extract the instantaneous amplitude and instantaneous frequency. The sample entropy of the instantaneous amplitude, which reflects the complexity of the load torque variation, is calculated as a performance indicator of smooth running. The peak-to-peak value of the instantaneous frequency, which defines the range of the motor speed variation, is set as a performance indicator of rapid response. The proposed method is applied to both simulated data in an intermittent start-stops process and experimental data measured for a batch of servo turrets for turning lathes. The results show that the performance evaluations agree with the actual performance.

Active control of residual tool marks for freeform optics functionalization by novel biaxial servo assisted fly cutting.

Science.gov (United States)

Zhu, Zhiwei; To, Suet; Zhang, Shaojian

2015-09-01

The inherent residual tool marks (RTM) with particular patterns highly affect optical functions of the generated freeform optics in fast tool servo or slow tool servo (FTS/STS) diamond turning. In the present study, a novel biaxial servo assisted fly cutting (BSFC) method is developed for flexible control of the RTM to be a functional micro/nanotexture in freeform optics generation, which is generally hard to achieve in FTS/STS diamond turning. In the BSFC system, biaxial servo motions along the z-axis and side-feeding directions are mainly adopted for primary surface generation and RTM control, respectively. Active control of the RTM from the two aspects, namely, undesired effect elimination or effective functionalization, are experimentally demonstrated by fabricating a typical F-theta freeform surface with scattering homogenization and two functional microstructures with imposition of secondary phase gratings integrating both reflective and diffractive functions.

Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

Institute of Scientific and Technical Information of China (English)

TIAN Yan-feng; GUO Qing-ding

2005-01-01

A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

Servo-control of water and sodium homeostasis during renal clearance measurements in conscious rats

DEFF Research Database (Denmark)

Thomsen, Klaus; Shirley, David G

2007-01-01

Servo-controlled fluid and sodium replacement during clearance studies is used in order to prevent loss of body fluid and sodium following diuretic/natriuretic procedures. However, even under control conditions, the use of this technique is sometimes associated with increases in proximal tubular...... fluid output (assessed by lithium clearance) and excretion rates. The present study examined the reason for these increases. The first series of experiments showed that one cause is volume overloading. This can occur if the servo system is activated from the start, i.e., during the establishment...... not seen when blood samples are replaced with the animal's own red blood cells resuspended in isotonic saline. When these pitfalls are avoided, servo-controlled sodium and fluid replacement is a reliable technique that makes it possible to study the effects of natriuretic and/or diuretic stimuli without...

Development of friction welding method by electric servo motors; Dendo servo shiki masatsu assetsuho no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

Suzuki, H; Onuma, M; Hasegawa, T; Sakamoto, T [Toyota Motor Corp., Aichi (Japan)

1997-10-01

The standard friction welding has two methods; the brake method and the inertia method. We have developed a new friction welding method with the electric servo motor system. The forming of plastic fluidity layers of interface is evaluated quantitatively with the feedback control characteristics. The new method has enabled to reduce the heat effect and the burr of friction welding. In the method, we could reduce the getting heat energy, from one-third to half less than the previous methods. 6 refs., 16 figs.

Fuzzy control of small servo motors

Science.gov (United States)

Maor, Ron; Jani, Yashvant

1993-01-01

To explore the benefits of fuzzy logic and understand the differences between the classical control methods and fuzzy control methods, the Togai InfraLogic applications engineering staff developed and implemented a motor control system for small servo motors. The motor assembly for testing the fuzzy and conventional controllers consist of servo motor RA13M and an encoder with a range of 4096 counts. An interface card was designed and fabricated to interface the motor assembly and encoder to an IBM PC. The fuzzy logic based motor controller was developed using the TILShell and Fuzzy C Development System on an IBM PC. A Proportional-Derivative (PD) type conventional controller was also developed and implemented in the IBM PC to compare the performance with the fuzzy controller. Test cases were defined to include step inputs of 90 and 180 degrees rotation, sine and square wave profiles in 5 to 20 hertz frequency range, as well as ramp inputs. In this paper we describe our approach to develop a fuzzy as well as PH controller, provide details of hardware set-up and test cases, and discuss the performance results. In comparison, the fuzzy logic based controller handles the non-linearities of the motor assembly very well and provides excellent control over a broad range of parameters. Fuzzy technology, as indicated by our results, possesses inherent adaptive features.

Thermo-hydraulic behavior of saturated steam-water mixture in pressure vessel during injection of cold water

International Nuclear Information System (INIS)

Aya, Izuo; Kobayashi, Michiyuki; Inasaka, Fujio; Nariai, Hideki.

1983-01-01

The thermo-hydraulic behavior of saturated steam water mixture in a pressure vessel during injection of cold water was experimentally investigated with the Facility for Mixing Effect of Emergency Core Cooling Water. The dimensions of the pressure vessel used in the experiments were 284mm ID and 1,971mm height. 11 experiments were conducted without blowdown in order to comprehend the basic process excluding the effect of blowdown at injection of cold water. The initial pressure and water level, the injection flow rate and the size of injection nozzle were chosen as experimental parameters. Temperatures and void fractions at 6 elevations as well as pressure in the pressure vessel were measured, and new data especially on the pressure undershoot just after the initation of water injection and the vertical distribution of temperature and void fraction were gotten. The transients of pressure, average temperature and void fraction were caluculated using single-volume analysis code BLODAC-1V which is based on thermal equilibrium and so-called bubble gradient model. Some input parameters included in the analysis code were evaluated through the comparison of analysis with experimental data. Moreover, the observed pressure undershoot which is evaluated to be induced by a time lag of vapourization in water due to thermal nonequilibrium, was also discussed with the aid of another simple analysis model. (author)

Robust and Stable Disturbance Observer of Servo System for Low-Speed Operation

DEFF Research Database (Denmark)

Lee, Kyo Beum; Blaabjerg, Frede

2007-01-01

A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The speed estimation scheme in most servo drive systems for low-speed operation is sensitive to the variation of machine parameter, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Network (RBFN) is applied. A control law for stabilizing the system and adaptive laws for updating both of the weights in the RBFN and a bounding constant are established so that the whole closed-loop system is stable...

Performance Improvement of Servo Machine Low Speed Operation Using RBFN Disturbance Observer

DEFF Research Database (Denmark)

Lee, Kyo-Beum; Blaabjerg, Frede

2004-01-01

A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The typical speed estimation scheme in most servo system for low speed operation is sensitive to the variation of machine parameters, especially the moment of inertia....... To estimate the motor inertia value, the observer using the Radial Basis Function Networks (RBFN) is applied. The effectiveness of the proposed inertia estimation method is verified by experiments. It is concluded that the speed control performance in the low speed region is improved with the proposed...

Elevator and hydraulics; Elevator to yuatsu

Energy Technology Data Exchange (ETDEWEB)

Nakamura, I. [Hitachi, Ltd., Tokyo (Japan)

1994-07-15

A hydraulic type elevator is installed in relatively lower buildings as compared with a rope type elevator, but the ratio in the number of installation of the former elevator is increasing. This paper explains from its construction and features to especially various control systems for the riding comfort and safety. A direct push-up system with hydraulic jacks arranged beneath a car, and an indirect push-up system that has hydraulic jacks arranged on flank of a car and transmits the movement of a plunger via a rope are available. The latter system eliminates the need of large holes to embed hydraulic jacks. While the speed is controlled by controlling flow rates of high-pressure oil, the speed, position, acceleration and even time differential calculus of the acceleration must be controlled severely. The system uses two-step control for the through-speed and the landing speed. Different systems that have been realized may include compensation for temperatures in flow rate control valves, load pressures, and oil viscosity, from learning control to fuzzy control for psychological effects, or control of inverters in motors. 13 refs., 12 figs., 1 tab.

The research on algorithms for optoelectronic tracking servo control systems

Science.gov (United States)

Zhu, Qi-Hai; Zhao, Chang-Ming; Zhu, Zheng; Li, Kun

2016-10-01

The photoelectric servo control system based on PC controllers is mainly used to control the speed and position of the load. This paper analyzed the mathematical modeling and the system identification of the servo system. In the aspect of the control algorithm, the IP regulator, the fuzzy PID, the Active Disturbance Rejection Control (ADRC) and the adaptive algorithms were compared and analyzed. The PI-P control algorithm was proposed in this paper, which not only has the advantages of the PI regulator that can be quickly saturated, but also overcomes the shortcomings of the IP regulator. The control system has a good starting performance and the anti-load ability in a wide range. Experimental results show that the system has good performance under the guarantee of the PI-P control algorithm.

Towards holonomic electro-elastomer actuators with six degrees of freedom

International Nuclear Information System (INIS)

Conn, A T; Rossiter, J

2012-01-01

Functionally efficient six degree of freedom (DOF) actuators have not yet been developed in a scale-invariant and inherently compliant unified form. This has primarily been due to the use of conventional serial or parallel kinematical configurations and electromagnetic motors, pneumatics and hydraulics. Contrary to traditional technologies, utilizing electro-active elastomers enables multi-DOF actuation and holonomic operation with minimal structural complexity. Conical dielectric elastomer actuators (DEAs) are compact multi-DOF actuator–sensors that are scalable and can be entirely polymeric, making them suitable for a variety of applications including minimally invasive medical devices. In this paper, cone DEAs are developed towards integrated 6-DOF actuation with muscle-like performance from a single structure. This is achieved by demonstrating the feasibility of holonomic 6-DOF actuation and through experimental characterization of a 5-DOF prototype. The 5-DOF prototype (50 mm length, 60 mm diameter) produced rotational actuation outputs of ±21.7° and ±9.42 mN m and linear actuation outputs of ±4.45 mm (±9.1%) and ±0.55 N. Finally, combined multi-DOF actuation is demonstrated as part of development towards scalable holonomic electro-active elastomer actuators. (paper)

Towards holonomic electro-elastomer actuators with six degrees of freedom

Science.gov (United States)

Conn, A. T.; Rossiter, J.

2012-03-01

Functionally efficient six degree of freedom (DOF) actuators have not yet been developed in a scale-invariant and inherently compliant unified form. This has primarily been due to the use of conventional serial or parallel kinematical configurations and electromagnetic motors, pneumatics and hydraulics. Contrary to traditional technologies, utilizing electro-active elastomers enables multi-DOF actuation and holonomic operation with minimal structural complexity. Conical dielectric elastomer actuators (DEAs) are compact multi-DOF actuator-sensors that are scalable and can be entirely polymeric, making them suitable for a variety of applications including minimally invasive medical devices. In this paper, cone DEAs are developed towards integrated 6-DOF actuation with muscle-like performance from a single structure. This is achieved by demonstrating the feasibility of holonomic 6-DOF actuation and through experimental characterization of a 5-DOF prototype. The 5-DOF prototype (50 mm length, 60 mm diameter) produced rotational actuation outputs of ±21.7° and ±9.42 mN m and linear actuation outputs of ±4.45 mm (±9.1%) and ±0.55 N. Finally, combined multi-DOF actuation is demonstrated as part of development towards scalable holonomic electro-active elastomer actuators.

Control-structure interaction in precision pointing servo loops

Science.gov (United States)

Spanos, John T.

1989-01-01

The control-structure interaction problem is addressed via stability analysis of a generic linear servo loop model. With the plant described by the rigid body mode and a single elastic mode, structural flexibility is categorized into one of three types: (1) appendage, (2) in-the-loop minimum phase, and (3) in-the-loop nonminimum phase. Closing the loop with proportional-derivative (PD) control action and introducing sensor roll-off dynamics in the feedback path, stability conditions are obtained. Trade studies are conducted with modal frequency, modal participation, modal damping, loop bandwidth, and sensor bandwidth treated as free parameters. Results indicate that appendage modes are most likely to produce instability if they are near the sensor rolloff, whereas in-the-loop modes are most dangerous near the loop bandwidth. The main goal of this paper is to provide a fundamental understanding of the control-structure interaction problem so that it may benefit the design of complex spacecraft and pointing system servo loops. In this framework, the JPL Pathfinder gimbal pointer is considered as an example.

Thermal hydraulic evaluation for an experimental facility to investigate pressurized thermal shock (PTS) in CDTN/CNEN

International Nuclear Information System (INIS)

Palmieri, Elcio T.; Navarro, Moyses A.; Aronne, Ivam D.; Terra, Jose L.

2002-01-01

The goal of the work presented in this paper is to provide necessary thermal hydraulics information to the design of an experimental installation to investigate the Pressurized Thermal Shock (PTS) to be implemented at Centro de Desenvolvimento da Tecnologia Nuclear (CDTN/CNEN). The envisaged installation has a test section that represents, in a small scale, a pressure vessel of a nuclear reactor. This test section will be heated and then exposed to a PTS in order to evaluate the appearance and development of cracks. To verify the behavior of the temperatures of the pressure vessel after a sudden flood through the annulus, calculations were made using the RELAP5/MOD 3.2.2 gamma code. Different outer radiuses were studied for the annular region. The results showed that the smaller annulus spacing (20 mm) anticipates the wetting of the surface and produces a higher cooling of the external surface, which stays completely wet for a longer time. (author)

Transient flow analysis of the single cylinder for the control rod hydraulic driving system

International Nuclear Information System (INIS)

Sun, Xinming; Qin, Benke; Bo, Hanliang

2017-01-01

Highlights: • The control rod hydraulic driving system(CRHDS) is a new type of built-in control rod drive technology. The hydraulic cylinder is the main component of the CRHDS. • Transient flow phenomenon in the CRHDS is studied by experiments under different working conditions. • The working mechanism of the hydraulic cylinder step motion and the key characteristic parameters are analyzed based on the experimental results. - Abstract: The control rod hydraulic driving system (CRHDS) is a new type of built-in control rod drive technology. In the CRHDS the pulse flow from the pump into the hydraulic cylinder of the control rod hydraulic drive mechanism (CRHDM) is regulated by the integrated valve to perform the step motion of the reactor control rod. Transient flow occurs in the CRHDS during control rod step motion process which is studied by experiments. The time-history curves of flow rate, pressure and inner cylinder displacement were analyzed, and the results show that the water hammer pressure peak during the step-up motion is high, while there are no obvious pressure fluctuations in the corresponding step-down motion. In the step-up process, the pressure fluctuation amplitude increases with the increase of CRHDS driving pressure. The step-up time and the pressure increasing time before step-up decreases with the driving pressure. The step-up pressure increases with the driving pressure. In the step-down process, the step-down time, the step-down pressure and the pressure decreasing time before step-down do not change with the increase of the driving pressure. The experimental results lay the base for the working principle and vibration reduction analysis of the CRHDS and it’s also helpful for improvement of the working performance of the key facilities and instruments of the CRHDS loop.

System and method for controlling engine knock using electro-hydraulic valve actuation

Science.gov (United States)

Brennan, Daniel G

2013-12-10

A control system for an engine includes a knock control module and a valve control module. The knock control module adjusts a period that one or more of an intake valve and an exhaust valve of a cylinder are open based on engine knock corresponding to the cylinder. The valve control module, based on the adjusted period, controls the one or more of the intake valve and the exhaust valve using one or more hydraulic actuators.

Visual servoing in medical robotics: a survey. Part I: endoscopic and direct vision imaging - techniques and applications.

Science.gov (United States)

Azizian, Mahdi; Khoshnam, Mahta; Najmaei, Nima; Patel, Rajni V

2014-09-01

Intra-operative imaging is widely used to provide visual feedback to a clinician when he/she performs a procedure. In visual servoing, surgical instruments and parts of tissue/body are tracked by processing the acquired images. This information is then used within a control loop to manoeuvre a robotic manipulator during a procedure. A comprehensive search of electronic databases was completed for the period 2000-2013 to provide a survey of the visual servoing applications in medical robotics. The focus is on medical applications where image-based tracking is used for closed-loop control of a robotic system. Detailed classification and comparative study of various contributions in visual servoing using endoscopic or direct visual images are presented and summarized in tables and diagrams. The main challenges in using visual servoing for medical robotic applications are identified and potential future directions are suggested. 'Supervised automation of medical robotics' is found to be a major trend in this field. Copyright © 2013 John Wiley & Sons, Ltd.

Proposal for electro-optic multiplier based on dual transverse electro-optic Kerr effect.

Science.gov (United States)

Li, Changsheng

2008-10-20

A novel electro-optic multiplier is proposed, which can perform voltage multiplication operation by use of the Kerr medium exhibiting dual transverse electro-optic Kerr effect. In this kind of Kerr medium, electro-optic phase retardation is proportional to the square of its applied electric field, and orientations of the field-induced birefringent axes are only related to the direction of the field. Based on this effect, we can design an electro-optic multiplier by selecting the crystals of 6/mmm, 432, and m3m classes and isotropic Kerr media such as glass. Simple calculation demonstrates that a kind of glass-ceramic material with a large Kerr constant can be used for the design of the proposed electro-optic multiplier.

Thermo-hydraulic consequence of pressure suppression containment vessel during blowdown, 2

International Nuclear Information System (INIS)

Aya, Izuo; Nariai, Hideki; Kobayashi, Michiyuki

1980-01-01

As a part of the safety research works for the integral-type marine reactor, an analytical code SUPPAC-2V was developed to simulate the thermo-hydraulic consequence of a pressure suppression containment system during blowdown and the code was applied to the Model Experimental Facility of the Safety of Integral Type Marine Reactors (explained already in Part 1). SUPPAC-2V is much different from existing codes in the following points. A nonhomogeneous model for the gaseous region in the drywell, a new correlation for condensing heat transfer coefficient at drywell wall based on existing data and approximation of air bubbles in wetwell water by one dimensional bubble rising model are adopted in this code. In comparing calculational results with experimental results, values of predominant input parameters were evaluated and discussed. Moreover, the new code was applied also to the NSR-7 marine reactor, conceptually designed at the Shipbuilding Research Association in Japan, of which suppression system had been already analysed by CONTEMPT-PS. (author)

Effect of persistent high intraocular pressure on microstructure and hydraulic permeability of trabecular meshwork

International Nuclear Information System (INIS)

Mei Xi; Ren Lin; Xu Qiang; Liu Zhi-Cheng; Zheng Wei

2015-01-01

As the aqueous humor leaves the eye, it first passes through the trabecular meshwork (TM). Increased flow resistance in this region causes elevation of intraocular pressure (IOP), which leads to the occurrence of glaucoma. To quantitatively evaluate the effect of high IOP on the configuration and hydraulic permeability of the TM, second harmonic generation (SHG) microscopy was used to image the microstructures of the TM and adjacent tissues in control (normal) and high IOP conditions. Enucleated rabbit eyes were perfused at a pressure of 60 mmHg to achieve the high IOP. Through the anterior chamber of the eye, in situ images were obtained from different depths beneath the surface of the TM. Porosity and specific surface area of the TM in control and high IOP conditions were then calculated to estimate the effect of the high pressure on the permeability of tissue in different depths. We further photographed the histological sections of the TM and compared the in situ images. The following results were obtained in the control condition, where the region of depth was less than 55 μm with crossed branching beams and large pores in the superficial TM. The deeper meshwork is a silk-like tissue with abundant fluorescence separating the small size of pores. The total thickness of pathway tissues composed of TM and juxtacanalicular (JCT) is more than 100 μm. After putting a high pressure on the inner wall of the eye, the TM region progressively collapses and decreases to be less than 40 μm. Fibers of the TM became dense, and the porosity at 34 μm in the high IOP condition is comparable to that at 105 μm in the control condition. As a consequent result, the permeability of the superficial TM decreases rapidly from 120 μm 2 to 49.6 μm 2 and that of deeper TM decreases from 1.66 μm 2 to 0.57 μm 2 . Heterogeneity reflected by descent in permeability reduces from 12.4 μm of the control condition to 3.74 μm of the high IOP condition. The persistently high IOP makes the

Influence of process operating parameters on dryness level and energy saving during wastewater sludge electro-dewatering.

Science.gov (United States)

Mahmoud, Akrama; Hoadley, Andrew F A; Conrardy, Jean-Baptiste; Olivier, Jérémy; Vaxelaire, Jean

2016-10-15

Electrically assisted mechanical dewatering, known as electro-dewatering (EDW), is an alternative emerging technology for energy-efficient liquid/solids separation in the dewatering of wastewater sludge. In this study, the performance of the electro-dewatering (EDW) process for activated wastewater sludge was investigated. The influence of the operating modes; being the timing of voltage (U-EDW) or current (I-EDW) application to either or both the filtration and compression stages, and the influence of the applied pressure (in successive 30 min pressure steps) were studied. The results showed that by delaying the application of the electric field to the filter cake compression stage, there was a potential saving in power consumption of around 10-12% in the case of U-EDW and about 30-46% in the case of I-EDW. The increase of the applied pressure from 0.5 to 12 bar during the filter cake compression stage leads to an increase in electro-dewatering kinetics. The results also reveal that at a low electric field level the increase of the processing pressure has a relatively pronounced effect on the dewatering process. At high levels of the electric field, a minimum processing pressure (4-6 bar) is required to improve the electrical contact between the electrode and the sludge and thus lower the energy consumption. Copyright © 2016 Elsevier Ltd. All rights reserved.

Thermal hydraulic analysis of aggressive secondary cooldown in a small break loss of coolant accident with a total loss of high pressure safety injection

International Nuclear Information System (INIS)

Han, Seok Jung; Lim, Ho Gon; Yang, Joon Eon

2003-01-01

To support the development of a Probabilistic Safety Assessment (PSA) model usable in Riskinformed Applications (RIA) for Korea Standard Nuclear power Plants (KSNP), we have performed a thermal hydraulic analysis of Aggressive Secondary Cooldown (ASC) in a 2-inch Small Break Loss Of Coolant Accident (SBLOCA) with a total loss of High Pressure Safety Injection (HPSI). The present study focuses on the estimation of the success criteria of ASC, and the enhanced understanding of the detailed thermal hydraulic behavior and phenomena. The results have shown that the Reactor Coolant System (RCS) pressure can be reduced to the Low Pressure Safety Injection (LPSI) operation conditions without core damage. It was also shown that more relaxed success criteria compared to those in the previous PSA models of KSNP could be used in the new PSA model. However, it was found that the results could be affected by various parameters related with ASC operation, i.e., reference temperature for the calculation of the cooldown rate and its control method

Inherent limitations of fixed time servo-controlled radiometric calorimetry

International Nuclear Information System (INIS)

Wetzel, J.R.; Duff, M.F.; Lemming, J.F.

1987-01-01

There has been some interest in low precision, short run time calorimetry measurements. This type of calorimetry measurement has been proposed for use when high precision measurements are not required, for example, to screen scrap containers to determine if there is enough material to be measured more accurately of for confirmatory measurements that only require low precision results. The equipment needed to make these measurements is a servo-controlled calorimeter with a sample preequilibration bath. The preequilibration bath temperature is set to the internal temperature of the calorimeter running at a fixed servo-controlled wattage level. The sample power value is determined at a fixed time form the sample loading into the calorimeter. There are some limitations and areas of uncertainties in the use of data obtained by this method. Data collected under controlled conditions demonstrate the limitations. Sample packaging, preequilibration time, and item wattage were chosen as the variables most likely to be encountered in a plant environment

Inherent limitations of fixed-time, servo-controlled radiometric calorimetry

International Nuclear Information System (INIS)

Wetzel, J.R.; Lemming, J.F.; Duff, M.F.

1987-01-01

Interest has been shown in using fixed-time, servo-controlled calorimetry to shorten the measurement times for certain samples that require low precision values (3 to 5%). This type of calorimeter measurement could be particularly useful for screening scrap samples to determine whether there is a need for a more accurate measurement or for certain confirmatory measurements for which low precision numbers are sufficient. The equipment required for this type of measurement is a servo-controlled calorimeter and a preconditioning unit. Samples to be measured are placed in the preconditioning unit, which is maintained at the internal temperature of the calorimeter. The power value for the sample is determined at a fixed time after loading into the calorimeter, for example, 30 min. When a calorimeter is operated using a fixed cutoff time, there are additional sources of uncertainty that need to be considered. The major factors affecting the uncertainty of the calorimetry power values are discussed. 2 refs., 4 figs

Concrete decontamination by Electro-Hydraulic Scabbling (EHS)

International Nuclear Information System (INIS)

1994-11-01

EHS is being developed for decontaminating concrete structures from radionuclides, organic substances, and hazardous metals. EHS involves the generation of powerful shock waves and intense cavitation by a strong pulsed electric discharge in a water layer at the concrete surface; high impulse pressure results in stresses which crack and peel off a concrete layer of controllable thickness. Scabbling produces contaminated debris of relatively small volume which can be easily removed, leaving clean bulk concrete. Objective of Phase I was to prove the technical feasibility of EH for controlled scabbling and decontamination of concrete. Phase I is complete

Concrete decontamination by Electro-Hydraulic Scabbling (EHS)

Energy Technology Data Exchange (ETDEWEB)

NONE

1994-11-01

EHS is being developed for decontaminating concrete structures from radionuclides, organic substances, and hazardous metals. EHS involves the generation of powerful shock waves and intense cavitation by a strong pulsed electric discharge in a water layer at the concrete surface; high impulse pressure results in stresses which crack and peel off a concrete layer of controllable thickness. Scabbling produces contaminated debris of relatively small volume which can be easily removed, leaving clean bulk concrete. Objective of Phase I was to prove the technical feasibility of EH for controlled scabbling and decontamination of concrete. Phase I is complete.

Servo-Drive Amplifier for Micro-Satellite Superconductor-Levitated Flywheels, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — A new servo-drive technology is available to support energy storage and navigation for micro-satellites. Exploiting the ?pinning? effect of high-temperature...

Hydraulic modelling of the CARA Fuel element

International Nuclear Information System (INIS)

Brasnarof, Daniel O.; Juanico, Luis; Giorgi, M.; Ghiselli, Alberto M.; Zampach, Ruben; Fiori, Jose M.; Yedros, Pablo A.

2004-01-01

The CARA fuel element is been developing by the National Atomic Energy Commission for both Argentinean PHWRs. In order to keep the hydraulic restriction in their fuel channels, one of CARA's goals is to keep its similarity with both present fuel elements. In this paper is presented pressure drop test performed at a low-pressure facility (Reynolds numbers between 5x10 4 and 1,5x10 5 ) and rational base models for their spacer grid and rod assembly. Using these models, we could estimate the CARA hydraulic performance in reactor conditions that have shown to be satisfactory. (author) [es

An Online Fault Pre-warning System of the Rolling Mill Screw-down Device Based on Virtual Instrument

Directory of Open Access Journals (Sweden)

Qing Bai

2014-04-01

Full Text Available A traditional off-line screw-down monitoring system performs not well on real-time signal analysis or process, which cannot provide simultaneous fault pre-warning either. A diagnostic monitoring system as well as a remotely accessible graphic user interface is presented in this paper. The main objective of this work is to develop an online and available technique for monitoring the kinetic, hydrodynamic and electrical parameters of the rolling mill screw-down device, and analyze these figures to support online fault pre-warning. A series of transducers are installed in suitable locations to measure parameters decried above including the vibration acceleration of a rolling mill stand, the rolling force of a screw-down device, the stroke of a hydraulic cylinder, the system source pressure, the in-cylinder stress and the output value of an electro-hydraulic servo valve. An industrial personal computer picks up the information transformed by an extra high-speed data acquisition board embedded inside, processes the signals via a software designed by means of Laborary Virtual Instrument Engineering Workbench (LabVIEW and indicates fault conditions through the graphic user interface. Besides, the data of the overall system can be published over the Internet using LabVIEW Web Server capabilities. The results of experiments suggest that the system works well on real-time data acquisition and online fault pre- warning. The statistics saved contributes to the research of vibration performance and malfunction analysis of a rolling mill.

Augmentation of peristaltic microflows through electro-osmotic mechanisms

International Nuclear Information System (INIS)

Chakraborty, Suman

2006-01-01

The present work aims to theoretically establish that the employment of an axial electric field can substantially augment the rate of microfluidic transport occurring in peristaltic microtubes. For theoretical analysis, shape evolution of the tube is taken to be arbitrary, except for the fact that the characteristic wavelength is assumed to be significantly greater than the average radius of cross section. First, expressions for the velocity profile within the tube are derived and are subsequently utilized to obtain variations in the net flow rate across the same, as a function of the pertinent system parameters. Subsequently, the modes of interaction between the electro-osmotic and peristaltic mechanisms are established through the variations in the time-averaged flow rates for zero pressure rise and the pressure rise for zero time-averaged flow rates, as expressed in terms of the occlusion number, characteristic electro-osmotic velocity and the peristaltic wave speed. From the simulation predictions, it is suggested that a judicious combination of peristalsis and an axial electrokinetic body force can drastically enhance the time-averaged flow rate, provided that the occlusion number is relatively small

Undular Hydraulic Jump

Directory of Open Access Journals (Sweden)

Oscar Castro-Orgaz

2015-04-01

Full Text Available The transition from subcritical to supercritical flow when the inflow Froude number Fo is close to unity appears in the form of steady state waves called undular hydraulic jump. The characterization of the undular hydraulic jump is complex due to the existence of a non-hydrostatic pressure distribution that invalidates the gradually-varied flow theory, and supercritical shock waves. The objective of this work is to present a mathematical model for the undular hydraulic jump obtained from an approximate integration of the Reynolds equations for turbulent flow assuming that the Reynolds number R is high. Simple analytical solutions are presented to reveal the physics of the theory, and a numerical model is used to integrate the complete equations. The limit of application of the theory is discussed using a wave breaking condition for the inception of a surface roller. The validity of the mathematical predictions is critically assessed using physical data, thereby revealing aspects on which more research is needed

Data-Driven Based Asynchronous Motor Control for Printing Servo Systems

Science.gov (United States)

Bian, Min; Guo, Qingyun

Modern digital printing equipment aims to the environmental-friendly industry with high dynamic performances and control precision and low vibration and abrasion. High performance motion control system of printing servo systems was required. Control system of asynchronous motor based on data acquisition was proposed. Iterative learning control (ILC) algorithm was studied. PID control was widely used in the motion control. However, it was sensitive to the disturbances and model parameters variation. The ILC applied the history error data and present control signals to approximate the control signal directly in order to fully track the expect trajectory without the system models and structures. The motor control algorithm based on the ILC and PID was constructed and simulation results were given. The results show that data-driven control method is effective dealing with bounded disturbances for the motion control of printing servo systems.

The design of a servo system for a Moessbauer spectrometer

International Nuclear Information System (INIS)

Cranshaw, T.E.

1981-06-01

This report describes the design of a transducer system and servo drive amplifier suitable for Moessbauer spectrometers. Particular attention is paid to low and zero frequency drift. Measurements of the loop gain of a practical system are presented. (author)

Influence of Pressure Build-Up Time of Compression Chamber on Improving the Operation Frequency of a Single-Piston Hydraulic Free-Piston Engine

Directory of Open Access Journals (Sweden)

Hai-bo Xie

2013-01-01

Full Text Available A single-piston hydraulic free-piston engine with a two-cylinder four-stroke diesel engine as its driver is introduced. It takes the free-piston assembly a certain time to move after the pressure in the compression chamber starts to increase. The time difference between the pressure increasing and the piston starting to move is defined as the pressure build-up time. The characteristics of the pressure build-up time and its influence on the performance of the free-piston engine are introduced and analyzed. Based on the basic law of dynamics of the free-piston assembly, the parameters which influence the pressure build-up time are analyzed. And then improvement and optimization are proposed to shorten the pressure build-up time.

Performance-oriented asymptotic tracking control of hydraulic systems with radial basis function network disturbance observer

Directory of Open Access Journals (Sweden)

Jian Hu

2016-05-01

Full Text Available Uncertainties, including parametric uncertainties and uncertain nonlinearities, always exist in positioning servo systems driven by a hydraulic actuator, which would degrade their tracking accuracy. In this article, an integrated control scheme, which combines adaptive robust control together with radial basis function neural network–based disturbance observer, is proposed for high-accuracy motion control of hydraulic systems. Not only parametric uncertainties but also uncertain nonlinearities (i.e. nonlinear friction, external disturbances, and/or unmodeled dynamics are taken into consideration in the proposed controller. The above uncertainties are compensated, respectively, by adaptive control and radial basis function neural network, which are ultimately integrated together by applying feedforward compensation technique, in which the global stabilization of the controller is ensured via a robust feedback path. A new kind of parameter and weight adaptation law is designed on the basis of Lyapunov stability theory. Furthermore, the proposed controller obtains an expected steady performance even if modeling uncertainties exist, and extensive simulation results in various working conditions have proven the high performance of the proposed control scheme.

A hydraulic hybrid propulsion method for automobiles with self-adaptive system

International Nuclear Information System (INIS)

Wu, Wei; Hu, Jibin; Yuan, Shihua; Di, Chongfeng

2016-01-01

A hydraulic hybrid vehicle with the self-adaptive system is proposed. The mode-switching between the driving mode and the hydraulic regenerative braking mode is realised by the pressure cross-feedback control. Extensive simulated and tested results are presented. The control parameters are reduced and the energy efficiency can be increased by the self-adaptive system. The mode-switching response is fast. The response time can be adjusted by changing the controlling spool diameter of the hydraulic operated check valve in the self-adaptive system. The closing of the valve becomes faster with a smaller controlling spool diameter. The hydraulic regenerative braking mode can be achieved by changing the hydraulic transformer controlled angle. Compared with the convention electric-hydraulic system, the self-adaptive system for the hydraulic hybrid vehicle mode-switching has a higher reliability and a lower cost. The efficiency of the hydraulic regenerative braking is also increased. - Highlights: • A new hybrid system with a self-adaptive system for automobiles is presented. • The mode-switching is realised by the pressure cross-feedback control. • The energy efficiency can be increased with the self-adaptive system. • The control parameters are reduced with the self-adaptive system.

Disturbance observer that uses radial basis function networks for the low speed control of a servo motor

DEFF Research Database (Denmark)

Lee, Kyo-Beum; Bae, C.H.; Blaabjerg, Frede

2005-01-01

A scheme to estimate the moment of inertia in a servo motor drive system at very low speed is proposed. The typical speed estimation scheme used in most servo systems operated at low speed is highly sensitive to variations in the moment of inertia. An observer that uses a radial basis function...

Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit.

Science.gov (United States)

Taghizadeh, Mostafa; Ghaffari, Ali; Najafi, Farid

2009-10-01

In this paper, the effect of pneumatic circuit design on the input-output behavior of PWM-driven servo-pneumatic systems is investigated and their control performances are improved using linear controllers instead of complex and costly nonlinear ones. Generally, servo-pneumatic systems are well known for their nonlinear behavior. However, PWM-driven servo-pneumatic systems have the advantage of flexibility in the design of pneumatic circuits which affects the input-output linearity of the whole system. A simple pneumatic circuit with only one fast switching valve is designed which leads to a quasi-linear input-output relation. The quasi-linear behavior of the proposed circuit is verified both experimentally and by simulations. Closed loop position control experiments are then carried out using linear P- and PD-controllers. Since the output position is noisy and cannot be directly differentiated, a Kalman filter is designed to estimate the velocity of the cylinder. Highly improved tracking performances are obtained using these linear controllers, compared to previous works with nonlinear controllers.

Confinement dependence of electro-catalysts for hydrogen evolution from water splitting

Directory of Open Access Journals (Sweden)

Mikaela Lindgren

2014-02-01

Full Text Available Density functional theory is utilized to articulate a particular generic deconstruction of the electrode/electro-catalyst assembly for the cathode process during water splitting. A computational model was designed to determine how alloying elements control the fraction of H2 released during zirconium oxidation by water relative to the amount of hydrogen picked up by the corroding alloy. This model is utilized to determine the efficiencies of transition metals decorated with hydroxide interfaces in facilitating the electro-catalytic hydrogen evolution reaction. A computational strategy is developed to select an electro-catalyst for hydrogen evolution (HE, where the choice of a transition metal catalyst is guided by the confining environment. The latter may be recast into a nominal pressure experienced by the evolving H2 molecule. We arrived at a novel perspective on the uniqueness of oxide supported atomic Pt as a HE catalyst under ambient conditions.

Comparative study of Thermal Hydraulic Analysis Codes for Pressurized Water Reactors

Energy Technology Data Exchange (ETDEWEB)

Kim, Yang Hoon; Jang, Mi Suk; Han, Kee Soo [Nuclear Engineering Service and Solution Co. Ltd., Daejeon (Korea, Republic of)

2015-05-15

Various codes are used for the thermal hydraulic analysis of nuclear reactors. The use of some codes among these is limited by user and some codes are not even open to general person. Thus, the use of alternative code is considered for some analysis. In this study, simple thermal hydraulic behaviors are analyzed using three codes to show that alternative codes are possible for the analysis of nuclear reactors. We established three models of the simple u-tube manometer using three different codes. RELAP5 (Reactor Excursion and Leak Analysis Program), SPACE (Safety and Performance Analysis CodE for nuclear power Plants), GOTHIC (Generation of Thermal Hydraulic Information for Containments) are selected for this analysis. RELAP5 is widely used codes for the analysis of system behavior of PWRs. SPACE has been developed based on RELAP5 for the analysis of system behavior of PWRs and licensing of the code is in progress. And GOTHIC code also has been widely used for the analysis of thermal hydraulic behavior in the containment system. The internal behavior of u-tube manometer was analyzed by RELAP5, SPACE and GOTHIC codes. The general transient behavior was similar among 3 codes. However, the stabilized status of the transient period analyzed by REPAP5 was different from the other codes. It would be resulted from the different physical models used in the other codes, which is specialized for the multi-phase thermal hydraulic behavior analysis.

Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

International Nuclear Information System (INIS)

Dixon, Warren

2003-01-01

The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controllers. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position, and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques in conjunction with results from projective geometry are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

International Nuclear Information System (INIS)

Dixon, Warren

2002-01-01

The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controlled robots. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D and D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators

Development of a computer code, PZRTR, for the thermal hydraulic analysis of a multi-cavity cold gas pressurizer for an integral reactor, SMART-P

Energy Technology Data Exchange (ETDEWEB)

Seo, Jae Kwang; Yoon, J

2003-12-01

The concept of a Multi-cavity Cold Gas PressuriZeR (MCGPZR) is applied to the SMART: The pressurizer system includes in-vessel cavities and out-of-vessel gas cylinders holding the gas supply/vent system. The gas cylinders are connected to the one of the in-vessel cavities via piping with valves. A pressurizer is maintained at a cold temperature of less than about 100 .deg. C, which is realized with coolers installed in and with wet thermal insulators installed on one of the cavities located inside the hot reactor vessel, to minimize the contribution of a steam partial pressure and is filled with nitrogen gas as a pressure-absorbing medium. The working medium and working temperature of the MCGPZR is totally different from that of a hot steam pressurizer of the commercial PWR. In addition, the MCGPZR is intended to be designed to meet a pressure transient during normal power operation (by its gas volume capacity) without using an active control system and during plant heatup/cooldown operation by using an active gas control (filling/venting) system. Therefore in order to evaluate the feasibility of the concept of the MCGPZR and its intended design goal, the thermal hydraulic behaviors and controllability of the MCGPZR during transients especially a heatup/cooldown operation must be analyzed. In this study, a thermal hydraulic transient analysis computer code, PZRTR, for the Reactor Coolant System (RCS) of an integral reactor composed of the MCGPZR, modular Once-Through Steam Generators (OTSGs), a core and a reactor coolant loop is developed. The pressurizer module (MCGPZR module) of the PZRTR code is based on a two-fluid, nonhomogeneous, nonequilibrium model for the two-phase system behavior and the OTSG module is based on a homogeneous equilibrium model of the two-phase flow process. The core module is simply based on the axial power distributions and the reactor coolant loop is based on the temperature distributions. The code is currently dedicated for the

Literature survey of heat transfer and hydraulic resistance of water, carbon dioxide, helium and other fluids at supercritical and near-critical pressures

Energy Technology Data Exchange (ETDEWEB)

Pioro, I.L.; Duffey, R.B

2003-04-01

This survey consists of 430 references, including 269 Russian publications and 161 Western publications devoted to the problems of heat transfer and hydraulic resistance of a fluid at near-critical and supercritical pressures. The objective of the literature survey is to compile and summarize findings in the area of heat transfer and hydraulic resistance at supercritical pressures for various fluids for the last fifty years published in the open Russian and Western literature. The analysis of the publications showed that the majority of the papers were devoted to the heat transfer of fluids at near-critical and supercritical pressures flowing inside a circular tube. Three major working fluids are involved: water, carbon dioxide, and helium. The main objective of these studies was the development and design of supercritical steam generators for power stations (utilizing water as a working fluid) in the 1950s, 1960s, and 1970s. Carbon dioxide was usually used as the modeling fluid due to lower values of the critical parameters. Helium, and sometimes carbon dioxide, were considered as possible working fluids in some special designs of nuclear reactors. (author)

Stability and servo-control of the crystal pulling process

International Nuclear Information System (INIS)

Johansen, T.H.

1990-11-01

The paper analyzes why the crystal pulling process needs servo-control, and how it can be implemented. Special emphasis is put on the fundamental question of inherent stability, and how to interpret the signal from a balance when the weighing method is used for cystal diameter detection. 15 refs., 13 figs

Evaluation of steady flow torques and pressure losses in a rotary flow control valve by means of computational fluid dynamics