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Sample records for hydraulic braking control

  1. Development of hydraulic brake actuator for active brake control; Active brake seigyoyo yuatsu booster no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Konishi, Y.; Hattori, M. Sugisawa, M.; Nishii, M. [Aisin Seiki Co. Ltd., Aichi (Japan)

    1997-10-01

    Recently, application of active brake control systems of the vehicle are increasing. (Vehicle stability control, Panic brake assist ) We have developed a new hydraulic brake actuator for active brake control systems. New hydraulic brake actuator is composed of the three parts. (Hydraulic booster unit, Power supply unit, Control valve unit) This report describes the construction of the new hydraulic booster unit. 2 refs., 10 figs.

  2. A Study on Control Strategy of Regenerative Braking in the Hydraulic Hybrid Vehicle Based on ECE Regulations

    Directory of Open Access Journals (Sweden)

    Tao Liu

    2013-01-01

    Full Text Available This paper establishes a mathematic model of composite braking in the hydraulic hybrid vehicle and analyzes the constraint condition of parallel regenerative braking control algorithm. Based on regenerative braking system character and ECE (Economic Commission of Europe regulations, it introduces the control strategy of regenerative braking in parallel hydraulic hybrid vehicle (PHHV. Finally, the paper establishes the backward simulation model of the hydraulic hybrid vehicle in Matlab/simulink and makes a simulation analysis of the control strategy of regenerative braking. The results show that this strategy can equip the hydraulic hybrid vehicle with strong brake energy recovery power in typical urban drive state.

  3. Regenerative Braking Control Strategy of Electric-Hydraulic Hybrid (EHH Vehicle

    Directory of Open Access Journals (Sweden)

    Yang Yang

    2017-07-01

    Full Text Available A novel electric-hydraulic hybrid drivetrain incorporating a set of hydraulic systems is proposed for application in a pure electric vehicle. Models of the electric and hydraulic components are constructed. Two control strategies, which are based on two separate rules, are developed; the maximum energy recovery rate strategy adheres to the rule of the maximization of the braking energy recovery rate, while the minimum current impact strategy adheres to the rule of the minimization of the charge current to the battery. The simulation models were established to verify the effects of these two control strategies. An ABS (Anti-lock Braking System fuzzy control strategy is also developed and simulated. The simulation results demonstrate that the developed control strategy can effectively absorb the braking energy, suppress the current impact, and assure braking safety.

  4. STUDY ON THE CONTROL SYSTEM OF HYDRAULIC MOMENT-ADJUSTED BRAKE FOR DOWNWARD BELT CONVEYOR

    Institute of Scientific and Technical Information of China (English)

    孟国营; 徐志强; 霍森; 方佳雨

    1997-01-01

    Having analyzed the drawbacks on the design of control system of hydraulic momentadjusted brake system, the author presents a closed loop control system in the process of start and braking of the conveyer. On the basis of the concept of the critical time and the critical acceleration and its deductions, the working mode of the conveyer can be identified and controlled in feedback, furthermore, thus realize the process of soft start. In the deceleration process, the author points out the problems that exist in the present control system and sets forward the control process that acted by the combined function of brake moment of motor and the drag torque of hydraulic brake at the beginning of deceleration, it will further improved reliability of conveyor system.

  5. Research on Electro Hydraulic Proportional Control for Heavy Vehicle Blend Braking System

    Institute of Scientific and Technical Information of China (English)

    XU Ming

    2009-01-01

    A blend braking system of heavy vehicle was proposed. The main control part of the system is the electro hydraulic proportional servo valve. A nonlinear model of brake cylinder controlled by the valve was deduced through the analysis of its control property and system feature. The transfer function of the system was also proposed, and the hydraulic inherent frequency and the PID closed-loop system feature were calculated. The simulated result is consistent with those tested in the bench and on the site with 50t heavy vehicle. The experimental result shows that the control method has quick response and high precision.

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

    OpenAIRE

    Zhang Fengjiao; Wei Minxiang

    2015-01-01

    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 el...

  7. 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.

  8. Fireproof Brake Hydraulic System.

    Science.gov (United States)

    1981-09-01

    bulk modulus and density are the same (see Table 2). AO-2 is the base stock fluid for AO-8 which is a blend of AO-2 and a viscosity index (VI) improver...RADIANS LI+ BRAK .. .... " 17 . 3000 4 BRAKE .~1~~ 4~~I 4 4 4- 4 .! L 3 00 00i- FTLB 0 ’ 25 00 +--- + + i DISPCE EN FiueE4 raeSse taiiy tndr ytm...VA LVE ... it .. . . .. . F... .. igur E. 8 Brak Syste Stability...... .. .. .. .. Tw-FuRRSstNTer Daming Amit 327. .. .. .. .... APPENDIX F

  9. 49 CFR 570.57 - Air brake system and air-over-hydraulic brake subsystem.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 6 2010-10-01 2010-10-01 false Air brake system and air-over-hydraulic brake... STANDARDS Vehicles With GVWR of More Than 10,000 Pounds § 570.57 Air brake system and air-over-hydraulic brake subsystem. The following requirements apply to vehicles with air brake and...

  10. Modeling and design of cooperative braking in electric and hybrid vehicles using induction machine and hydraulic brake

    Directory of Open Access Journals (Sweden)

    Zaini Dalimus

    2016-07-01

    Full Text Available In mixed-mode braking applications, the electric motor / generator (M/G and hydraulic pressure valve are controlled to meet the driver’s braking demand. Controlling these braking elements is achieved by modulating the current generated by the M/G and adjusting the fluid pressure to the wheel brake cylinders. This paper aims to model and design combined regenerative and hydraulic braking systems which, comprise an induction electric machine, inverter, NiMH battery, controller, a pressure source, pressure control unit, and brake calipers. A 15 kW 1500 rpm induction machine equipped with a reduction gear having a gear ratio of 4 is used. A hydraulic brake capable to produce fluid pressure up to 40 bar is used. Direct torque control and pressure control are chosen as the control criteria in the M/G and the hydraulic solenoid valve. The braking demands for the system are derived from the Federal Testing Procedure (FTP drive cycle. Two simulation models have been developed in Matlab®/Simulink® to analyze the performance of the control strategy in each braking system. The developed model is validated through experiment. It is concluded that the control system does introduce torque ripple and pressure oscillation in the braking system, but these effects do not affect vehicle braking performance due to the high frequency nature of pressure fluctuation and the damping effect of the vehicle inertia. Moreover, experiment results prove the effectiveness of the developed model.

  11. 49 CFR 570.55 - Hydraulic brake system.

    Science.gov (United States)

    2010-10-01

    ... parking brake and turn the ignition to start to verify that the brake system failure indicator lamp is... 49 Transportation 6 2010-10-01 2010-10-01 false Hydraulic brake system. 570.55 Section 570.55... 10,000 Pounds § 570.55 Hydraulic brake system. The following requirements apply to vehicles...

  12. 风轮机液压制动控制系统的研究%Research on Hydraulic Braking Control System of Wind Turbine

    Institute of Scientific and Technical Information of China (English)

    张文亭

    2015-01-01

    该文分析了风轮机常用的制动系统和控制系统,设计了基于紧急情况下的风轮机液压制动系统,并通过实验进行了测试,最后进行了紧急情况下的数据仿真研究,指出本制动器在不同最大设置压力和初始转速条件下的制动性能。%This paper analyses common braking system and control system in wind turbine, designs the hydraulic brake system of wind tur-bine based on emergency cases,and verified by experiment, also studies on the data simulation in case of emergency, points out the brake performance at different maximum set pressure and initial speed conditions.

  13. Brakes, brake control and driver assistance systems function, regulation and components

    CERN Document Server

    2014-01-01

    Braking systems have been continuously developed and improved throughout the last years. Major milestones were the introduction of antilock braking system (ABS) and electronic stability program. This reference book provides a detailed description of braking components and how they interact in electronic braking systems. Contents Motor vehicle safety.- Basic principles of vehicle dynamics.- Car braking systems.- Car braking-system components.- Wheel brakes.- Antilock breaking systems.- Traction control system.- Electronic stability program.- Automatic brake functions.- Hydraulic modulator.- Sensors for brake control.- Sensotronic brake control.- Active steering.- Occupant protection systems.- Driver assistance systems.- Adaptive cruise control.- Parking systems.- Instrumentation.- Orientation methods.- Navigation systems.- Workshop technology. The target groups Motor-vehicle technicians in education and vocational training Master-mechanics and technicians in garage-workshops Teachers and lecturers in vocation...

  14. Transient switching control strategy from regenerative braking to anti-lock braking with a semi-brake-by-wire system

    Science.gov (United States)

    Li, Liang; Li, Xujian; Wang, Xiangyu; Liu, Yahui; Song, Jian; Ran, Xu

    2016-02-01

    Regenerative braking is an important technology in improving fuel economy of an electric vehicle (EV). However, additional motor braking will change the dynamic characteristics of the vehicle, leading to braking instability, especially when the anti-lock braking system (ABS) is triggered. In this paper, a novel semi-brake-by-wire system, without the use of a pedal simulator and fail-safe device, is proposed. In order to compensate for the hysteretic characteristics of the designed brake system while ensure braking reliability and fuel economy when the ABS is triggered, a novel switching compensation control strategy using sliding mode control is brought forward. The proposed strategy converts the complex coupling braking process into independent control of hydraulic braking and regenerative braking, through which a balance between braking performance, braking reliability, braking safety and fuel economy is achieved. Simulation results show that the proposed strategy is effective and adaptable in different road conditions while the large wheel slip rate is triggered during a regenerative braking course. The research provides a new possibility of low-cost equipment and better control performance for the regenerative braking in the EV and the hybrid EV.

  15. THE THEORETICAL MODEL FOR PREDICTING CIRCULATION VELOCITY OF HYDRAULIC BRAKE

    Institute of Scientific and Technical Information of China (English)

    刘英林; 侯春生

    1997-01-01

    By rational hypothesis of fluid flow pattern, applied the law of conservation of energy and integrated the laboratory test results, finished the prediction by the theoretical model of circulation velocity of hydraulic brake which is important parameter. Thus provide the theoritical basis for hydraulic brake of belt conveyor whose research has just been started.

  16. 混合动力汽车下坡辅助电-液复合制动控制方法%Electro-hydraulic brake control method for hybrid electric vehicle during process of downhill assist control

    Institute of Scientific and Technical Information of China (English)

    韩云武; 罗禹贡; 李克强; 陈龙

    2015-01-01

    In order to improve vehicle safety and fuel economy of the whole control system for hybrid electric vehicles (HEV), this paper presents an electro-hydraulic braking control method for the downhill auxiliary braking process. First, through the analysis of the downhill auxiliary braking process and dynamic change of the braking torque, the appropriate time for electro-hydraulic braking and the distribution principle of the braking torque are proposed. Experiment platform and typical control signals are adopted to test the electronic vacuum brake, of which the results illustrate that the braking torque of the electronic vacuum brake is sufficiently large to finish the braking process. However, if the target pressure is low (for example, below 0.15 MPa), the respond of electronic vacuum brake to the pressure is also slow. Increasing target pressure can slove the problem of start-up delay and the response time of the brake. Besides, response errors appearing in the control process of the electronic vacuum brake cannot be eliminated as well. On the contrary, the drive motor has high response speed and high control precision though the maximum driving/braking torque is limited. This provides the possibility of combining the advantages of both devices. Thus, based on the response data of electric vehicle drive motor, the complementarity of braking capacity and response characteristics of the electro-hydraulic system is specifically analyzed and the control inclination of the electro-hydraulic system is obtained. Then, the distribution principle of the downhill auxiliary braking torque is established, which can maximize the breaking torque of the motor in the prerequisite of assuring the total breaking torque. Based on the blending control framework of forward feed and feedback, the hydraulic system response under low pressure is realized using the proposed minimum pressure maintaining method. Meanwhile, by increasing the objective start-up pressure, time delay of the

  17. Electronic-hydraulic-compound regenerative braking control for electric vehicles%纯电动汽车电液复合再生制动控制

    Institute of Scientific and Technical Information of China (English)

    刘志强; 过学迅

    2011-01-01

    The braking force distribution of the compound brake system on small electric vehicles was studied. The safe range of braking force distribution was established by analyzing braking dynamics and the ECE R13-H rule. In the safe braking range, a strategy with optimal energy recovery was developed based on the concept, i.e. braking forces should be distributed on front and rear axles in such a way that the regenerated energy was maximized, as long as the commanded deceleration was reached and neither front nor rear axle was locked. The distribution matrixes of the regenerative braking forces, front and rear hydraulic braking forces were created. A driving cycle was established based on some different braking intensities and ECE-EUDC driving cycle. Simulation on this control strategy was performed in ADVISOR 2002 by establishing an embedded simulation model. The simulation results show that the state-of-charge is progressed by 4.5%, and the proposed control strategy on regenerative braking is effective.%针对纯电动汽车电液复合再生制动过程机电制动力的动态分配问题,通过对制动动力学和ECE R13-H制动法规的分析,从理论上确定纯电动汽车电液复合再生制动的安全运行范围.在安全制动范围内,开发了以最大限度回收能量为目标,达到需求制动强度而前、后轴又不抱死的再生制动控制流程,生成机电制动力分配矩阵.以制动强度分别为0.2,0.3,0.4,0.5和0.6,初始车速为16.67 m/s,结合ECE-EUDC道路循环,构建新的仿真循环,将车辆参数、制动力分配矩阵、道路循环嵌入ADVISOR2002软件.研究结果表明:仿真运行1个道路循环后,电池荷电状态SOC(State of charge)相对原策略有较明显的提高,提高幅度达4.5%,较好地回收了制动能量,更重要的是保证了制动安全,表明开发的控制策略是有效的.

  18. In-depth analysis of bicycle hydraulic disc brakes

    Science.gov (United States)

    Maier, Oliver; Györfi, Benedikt; Wrede, Jürgen; Arnold, Timo; Moia, Alessandro

    2017-10-01

    Hydraulic Disc Brakes (HDBs) represent the most recent and innovative bicycle braking system. Especially Electric Bicycles (EBs), which are becoming more and more popular, are equipped with this powerful, unaffected by environmental influences, and low-wear type of brakes. As a consequence of the high braking performance, typical bicycle braking errors lead to more serious accidents. This is the starting point for the development of a Braking Dynamics Assistance system (BDA) to prevent front wheel lockup and nose-over (falling over the handlebars). One of the essential prerequisites for the system design is a better understanding of bicycle HDBs' characteristics. A physical simulation model and a test bench have been built for this purpose. The results of the virtual and real experiments conducted show a high correlation and allow valuable insights into HDBs on bicycles, which have not been studied scientifically in any depth so far.

  19. An integrated control strategy for the composite braking system of an electric vehicle with independently driven axles

    Science.gov (United States)

    Sun, Fengchun; Liu, Wei; He, Hongwen; Guo, Hongqiang

    2016-08-01

    For an electric vehicle with independently driven axles, an integrated braking control strategy was proposed to coordinate the regenerative braking and the hydraulic braking. The integrated strategy includes three modes, namely the hybrid composite mode, the parallel composite mode and the pure hydraulic mode. For the hybrid composite mode and the parallel composite mode, the coefficients of distributing the braking force between the hydraulic braking and the two motors' regenerative braking were optimised offline, and the response surfaces related to the driving state parameters were established. Meanwhile, the six-sigma method was applied to deal with the uncertainty problems for reliability. Additionally, the pure hydraulic mode is activated to ensure the braking safety and stability when the predictive failure of the response surfaces occurs. Experimental results under given braking conditions showed that the braking requirements could be well met with high braking stability and energy regeneration rate, and the reliability of the braking strategy was guaranteed on general braking conditions.

  20. Charging valve of the full hydraulic braking system

    Directory of Open Access Journals (Sweden)

    Jinshi Chen

    2016-03-01

    Full Text Available It is known that the full hydraulic braking system has excellent braking performance. As the key component of the full hydraulic braking system, the parameters of the accumulator charging valve have a significant effect on the braking performance. In this article, the key parameters of the charging valve are analyzed through the static theoretical and an Advanced Modeling Environment for performing Simulation of engineering systems (AMESim simulation model of the dual-circuit accumulator charging valve is established based on the real structure parameters first. Second, according to the results of the dynamic simulation, the dynamic characteristics of the charging pressure, the flow rate, and the frequency of the charging valve are studied. The key parameters affecting the serial production are proposed and some technical advices for improving the performance of the full hydraulic system are provided. Finally, the theoretical analysis is validated by the simulation results. The comparison between the simulation results and the experimental results indicates that the simulated AMESim model of the charging valve is accurate and credible with the error rate inside 0.5% compared with the experimental result. Hence, the performance of the charging valve meets the request of the full hydraulic braking system exactly.

  1. XJ250修井机液压盘式刹车液压控制系统仿真分析%Simulation Analysis of the Hydraulic Control System of the Hydraulic Disc Brake on the X J250 Workover Rig

    Institute of Scientific and Technical Information of China (English)

    张连业; 吴文秀; 刘威

    2012-01-01

    Taking as the object of study the hydraulic control system of the hydraulic disc brake on the XJ250 workover rig, the mathematical model on the basis of global flow and hydraulic cylinder piston motion equation was established by analyzing the structure of the control system. The AMESim simulation model for the hydraulic control system of the braking system was constructed and the model parameters and simulation parameters were set. The var- iation of the typical sine curve hydraulic source signal and excitation electromagnetic valve signal was used to carry out a simulation study of the response system of the operating brake hydraulic control system. The sudden opening of the step switch signal was used to conduct a simulation analysis of the urgency brake hydraulic system response. The hydraulic dynamic response curve of the main valve port of the hydraulic control system in the process of operating brake and urgency brake was derived. The simulation result is in agreement with the practical operation. The simulation analysis offers a reference for the improvement of the performance of the hydraulic control system of the workover rig disc brake.%以XJ250修井机液压盘式刹车的液压控制系统为研究对象,通过分析液压盘式刹车的液压控制系统结构,建立了基于全局流量与液压缸活塞运动方程的数学模型;构建了液压控制系统的AMESim仿真模型,设置了模型参数及仿真参数。以典型的正弦曲线液压源信号及激励电磁阀信号变化仿真研究工作制动液压控制系统响应性能,以阶跃开关信号突然开启模拟分析紧急制动液压系统响应。得到了工作制动及紧急制动过程中液压控制系统主要阀口处液压动态响应曲线,仿真结果与实际运行情况相符。该仿真分析为修井机液压盘式刹车液压控制系统性能的改进与完善提供了参考。

  2. 49 CFR 571.105 - Standard No. 105; Hydraulic and electric brake systems.

    Science.gov (United States)

    2010-10-01

    ... signal or signals. Electric vehicle or EV means a motor vehicle that is powered by an electric motor... or control signals in an antilock brake system, or a total functional electrical failure in a... 49 Transportation 6 2010-10-01 2010-10-01 false Standard No. 105; Hydraulic and electric...

  3. Suitability of Hydraulic Disk Brakes for Passive Actuation of Upper-Extremity Rehabilitation Exoskeleton

    Directory of Open Access Journals (Sweden)

    Arno H. A. Stienen

    2009-01-01

    Full Text Available Passive, energy-dissipating actuators are promising for force-coordination training in stroke rehabilitation, as they are inherently safe and have a high torque-to-weight ratio. The goal of this study is to determine if hydraulic disk brakes are suitable to actuate an upper-extremity exoskeleton, for application in rehabilitation settings. Passive actuation with friction brakes has direct implications for joint control. Braking is always opposite to the movement direction. During standstill, the measured torque is equal to the torque applied by the human. During rotations, it is equal to the brake torque. Actively assisting movement is not possible, nor are energy-requiring virtual environments. The evaluated disk brake has a 20 Nm bandwidth (flat-spectrum, multi-sine of 10 Hz; sufficient for torques required for conventional therapy and simple, passive virtual environments. The maximum static output torque is 120 Nm, sufficient for isometric training of the upper extremity. The minimal impedance is close zero, with only the inertia of the device felt. In conclusion, hydraulic disk brakes are suitable for rehabilitation devices.

  4. 分布式电驱动汽车 AFS 与电液复合制动集成控制%Integrated Control of Active Front Steering and Motor/Hydraulic Hybrid Braking in Distributed Electric Drive Vehicles

    Institute of Scientific and Technical Information of China (English)

    袁希文; 桂林; 周兵

    2016-01-01

    针对分布式电驱动汽车,以实现车辆主动安全性同时兼顾制动能量回收为目标,提出一种主动前轮转向(AFS)与电液复合制动集成的控制策略.AFS 控制器采用滑模变结构控制,滑移率控制器采用滑模极值搜索算法,基于分层结构(上层为期望制动力矩计算模块,中层为考虑执行器带宽的动态控制分配模块,下层为电机与液压复合执行器),并考虑位置与速率约束.转向制动时,考虑车辆纵向动力学对侧向动力学的影响,引入前轮转角对滑移率控制律进行了修正.在 MATLAB/Simulink 中建立七自由度整车模型,对控制算法进行了验证.结果表明:分离路面直线制动时,所提出的控制策略可以同时保证制动能量回收和制动方向稳定性;转弯制动时,可以更好地跟踪理想横摆角速度,提高了车辆的侧向稳定性.%A new control strategy was proposed by integrating active front steering and electro-hydrau-lic braking in distributed electric drive vehicles to ensure vehicle active safety by taking into account bra-king energy recuperation.The AFS controller was synthesized by means of sliding mode control.The wheel slip controller was designed with a hierarchical control structure.In the upper layer,sliding mode extremum-seeking algorithm was adopted to obtain the desired braking torque,and a dynamic control allo-cator considering different actuators bandwidths was employed to determine the optimal split between the electric and friction brake torque in the middle layer.In the lower layer,a hybrid actuator system consis-ting of the hydraulic brake and the electrical motor was designed on the basis of actuator position and rate constraints.The wheel slip control law was modified by introducing the road wheel angle factor consider-ing the strongly coupled dynamics of steering and braking systems when braking-in-turn.Simulation re-sults obtained with a 7-Do

  5. 49 CFR 393.49 - Control valves for brakes.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 5 2010-10-01 2010-10-01 false Control valves for brakes. 393.49 Section 393.49... NECESSARY FOR SAFE OPERATION Brakes § 393.49 Control valves for brakes. (a) General rule. Except as provided..., which is equipped with power brakes, must have the braking system so arranged that one application...

  6. Design and Development of Hydraulic Disc Brake Systems for Well Servicing Rig Drawworks

    Institute of Scientific and Technical Information of China (English)

    Gao xiangqian; Zhou Yongxia

    1996-01-01

    @@ The conventional band brakes have been known to be important but also the most unlnerable part in servicing rig deawworks.. The failures in braking and releasing operations haven't well been avoided. There have evidently existed the problems of difficult operation and inconvenient maintenance in this connection. The use of power-assisted hydraulic cylinders or pneumatic cylinders can not meet the requirements of operations either. Since the late 1980s, we have cooperated with Shengli oilfields and others in the successful design and development of PST25 hydraulic disc brake systems for well servicing rig in a fully closed working state.

  7. An Investigation into Regenerative Braking Control Strategy for Hybrid Electric Vehicle

    Institute of Scientific and Technical Information of China (English)

    PENG Dong; YIN Cheng-liang; ZHANG Jian-wu

    2005-01-01

    Energy regeneration during braking is an important technique for hybrid electric vehicle (HEV) to improve their fuel economy and extend their driving range. Due to the effect of regenerative braking torque which is added by electric motor, the braking torque distribution between front and rear axles should be changed and the control logic of anti-lock braking system (ABS) ought to be adjusted according to the regenerative braking torque. This paper put forward a braking control strategy for hybrid electric vehicle; the control strategy is implemented with eight DOFs (Degree-of-Freedom) nonlinear vehicle forward simulation model which is built under the environment of Matlab/Simulink. Based on target wheel slip ratio, a fuzzy logic approach was applied to maintain the optimal target slip ratio so that best compromise between hydraulic torque and regenerative torque can be obtained for the vehicle.

  8. Evaluation the course of the vehicle braking process in case of hydraulic circuit malfunction

    Science.gov (United States)

    Szczypiński-Sala, W.; Lubas, J.

    2016-09-01

    In the paper, the results of the research were discussed, the aim of which was the evaluation of the vehicle braking performance efficiency and the course of this process with regard to the dysfunction which may occur in braking hydraulic circuit. As part of the research, on-road tests were conducted. During the research, the delay of the vehicle when braking was measured with the use of the set of sensors placed in the parallel and the perpendicular axis of the vehicle. All the tests were conducted on the same flat section of asphalt road with wet surface. Conditions of diminished tire-to-road adhesion were chosen in order to force the activity of anti-lock braking system. The research was conducted comparatively for the vehicle with acting anti-lock braking system and subsequently for the vehicle without the system. In both cases, there was a subsequent evaluation of the course of braking with efficient braking system and with the dysfunction of hydraulic circuit.

  9. Electronic Brake-Force Distribution Control Methods of ABS-Equipped Vehicles During Cornering Braking

    Institute of Scientific and Technical Information of China (English)

    WANG Guo-ye; LIU Zhao-du; MA Yue-feng; QI Zhi-quan

    2007-01-01

    Based on the dynamics of ABS-equipped vehicles during cornering braking,the electronic brakeforce distribution (EBD) control methods of ABS-equipped vehicles during cornering braking are proposed.According to the dynamics and the tire model under tire adhesion limit,the stability acceptance criteria of vehicles during cornering braking are proposed.According to the stability acceptance criteria and the ABS control,the EBD control methods of ABS-equipped vehicles during cornering braking are implemented by adjusting the threshold values of tires slip independently.The vehicle states during cornering braking at two typical initial velocities of the vehicle are analyzed by the EBD control methods,whose results indicate the EBD control methods can improve the braking performances of the vehicle during cornering braking comparing with the ABS control.

  10. Simulation Research on Braking Performance of Tracked Vehicle Hydraulic Energy Storage Braking System%履带车辆液压储能式制动系统制动性能仿真研究

    Institute of Scientific and Technical Information of China (English)

    赵广俊; 吕建刚; 宋彬; 滕飞

    2011-01-01

    为了实现对履带车辆制动能量的回收利用,针对某型履带车辆建立其液压储能式制动系统,分析系统工作模式;在AMESim下建立液压储能式制动系统及车辆模型,在Matlab/Simulink下建立控制系统模型;提出基于踏板行程逻辑门限值的模糊控制策略;在驾驶员不同的制动意图和系统负荷能力条件下,对履带车辆的制动工况进行联合仿真研究.结果表明,在该控制策略下液压储能式制动系统实现了对履带车辆的稳定制动和对制动能量的有效回收.%In order to achieve the tracked vehicle braking energy recovery and utilization, a certain type of tracked vehicle hydraulic energy storage braking system was established, and the working mode was analyzed. The model of hydraulic energy storage braking system and the vehicle was established in AMESim, and the control system model was established in Matlab/Simulink. Fuzzy logic control strategy based on pedal opening threshold was proposed. Under the driver's different braking intention and conditions of system load capacity, the tracked vehicle's braking process was researched under co-simulation. The results show that with the control strategy in the hydraulic energy storage braking system, the stable braking of tracked vehicle and the effective recovery of braking energy were achieved.

  11. Brake Performance Analysis of ABS for Eddy Current and Electrohydraulic Hybrid Brake System

    Directory of Open Access Journals (Sweden)

    Ren He

    2013-01-01

    Full Text Available This paper introduces an eddy current and electro-hydraulic hybrid brake system to solve problems such as wear, thermal failure, and slow response of traditional vehicle brake system. Mathematical model was built to calculate the torque of the eddy current brake system and hydraulic brake system and analyze the braking force distribution between two types of brake systems. A fuzzy controller on personal computer based on LabVIEW and Matlab was designed and a set of hardware in the loop system was constructed to validate and analyze the performance of the hybrid brake system. Through lots of experiments on dry and wet asphalt roads, the hybrid brake system achieves perfect performance on the experimental bench, the hybrid system reduces abrasion and temperature of the brake disk, response speed is enhanced obviously, fuzzy controller keeps high utilization coefficient due to the optimal slip ratio regulation, and the total brake time has a smaller decrease than traditional hydraulic brake system.

  12. 纯电动汽车电—液复合制动系统控制算法的多边界条件优化设计%Optimization Design of EV Electro—Hydraulic Composite Braking System Control Algorithm with Multi—boundary Conditions

    Institute of Scientific and Technical Information of China (English)

    李玉芳; 周丽丽

    2012-01-01

    According to the characteristics of pure EV power system, an optimization design method of brake force control algorithm of electro-hydraulic composite brake system with multi - boundary conditions was proposed. And based on the analysis of boundary conditions, including the braking strength requirements, ECE regulations, and motor/battery characteristics etc, a reasonable range of brake force distribution ratio was achieved. And braking force distribution approach between the front and rear axles was brought out by considering such factors as the braking strength of demand and using frequency of the various adhesion coefficient roads. And the simulation analysis verifies the rationality and effectiveness of the brake force distribution algorithm.%根据纯电动汽车动力系统的特点,提出电—液复合制动系统控制算法的多边界条件优化设计方法.基于对制动强度需求、ECE法规和电机/蓄电池特性等多边界条件的分析,得出制动力分配比例的合理取值范围,以此为基础,提出根据制动强度需求和不同附着系数路面的使用频率等因素确定前后轴制动力分配系数的方法.仿真分析验证了制动力分配算法的有效性和合理性.

  13. 泵控电液混合驱动系统在板料折弯机上的应用研发%The application and exploration of pump-control electro-hydraulic driving system in press brake for sheet metal

    Institute of Scientific and Technical Information of China (English)

    李振光; 汪立新; 温峰虎; 雷斌华; 茅问宇

    2013-01-01

    The electric and hydraulic principles of the pump-control electro-hydraulic driving system have been introduced in the text, as well as the advantages of pump-control press brake comparing with the conventional one. It is pointed out that the application of pump-control electro-hydraulic driving system is more widely, which has a broad marketing prospect.%介绍了泵控电液混合驱动系统的电气原理、液压原理,以及与传统折弯机相比泵控折弯机的诸多优点,指出泵控电液混合驱动系统的应用将越来越广泛,具有广阔的市场前景.

  14. Performance Evaluation of an Anti-Lock Braking System for Electric Vehicles with a Fuzzy Sliding Mode Controller

    Directory of Open Access Journals (Sweden)

    Jingang Guo

    2014-10-01

    Full Text Available Traditional friction braking torque and motor braking torque can be used in braking for electric vehicles (EVs. A sliding mode controller (SMC based on the exponential reaching law for the anti-lock braking system (ABS is developed to maintain the optimal slip value. Parameter optimizing is applied to the reaching law by fuzzy logic control (FLC. A regenerative braking algorithm, in which the motor torque is taken full advantage of, is adopted to distribute the braking force between the motor braking and the hydraulic braking. Simulations were carried out with Matlab/Simulink. By comparing with a conventional Bang-bang ABS controller, braking stability and passenger comfort is improved with the proposed SMC controller, and the chatting phenomenon is reduced effectively with the parameter optimizing by FLC. With the increasing proportion of the motor braking torque, the tracking of the slip ratio is more rapid and accurate. Furthermore, the braking distance is shortened and the conversion energy is enhanced.

  15. Effect of Dimensions of Crimped Portion upon Sealing Performance of Hydraulic Brake Hose by Applying Three-Dimensional FEM Analysis

    National Research Council Canada - National Science Library

    NODA, Nao-Aki; KIM, Bongkee; OTA, Kento; KAWAHARA, Hirofumi; SHINOZAKI, Takahiro

    2013-01-01

    .... In this study, three-dimensional FEM analysis has been applied to the crimped portion of hydraulic brake hose in order to investigate the effects of manufacturing errors upon the sealing performance...

  16. Determination of minimum sample size for fault diagnosis of automobile hydraulic brake system using power analysis

    Directory of Open Access Journals (Sweden)

    V. Indira

    2015-03-01

    Full Text Available Hydraulic brake in automobile engineering is considered to be one of the important components. Condition monitoring and fault diagnosis of such a component is very essential for safety of passengers, vehicles and to minimize the unexpected maintenance time. Vibration based machine learning approach for condition monitoring of hydraulic brake system is gaining momentum. Training and testing the classifier are two important activities in the process of feature classification. This study proposes a systematic statistical method called power analysis to find the minimum number of samples required to train the classifier with statistical stability so as to get good classification accuracy. Descriptive statistical features have been used and the more contributing features have been selected by using C4.5 decision tree algorithm. The results of power analysis have also been verified using a decision tree algorithm namely, C4.5.

  17. Design of Braking Caliper's Braking Torque in Hydraulic Disc Braking System%液压盘式刹车系统制动钳制动力矩的设计

    Institute of Scientific and Technical Information of China (English)

    高燕; 宋胜涛; 王跃军; 韩美香; 郭太清

    2012-01-01

    针对目前液压盘式刹车系统刹车力矩小,刹车性能不稳定等现状,基于老算法对制动转矩的计算原理设计了一种新算法,对制动钳的工作制动转矩,紧急制动转矩及驻车制动转矩,冗余安全设计等进行了计算.为提高液压盘式刹车系统的设计效率和安全系数,该算法从制动钳的工作原理出发,通过对制动钳的制动结构进行分析,以下放到井中的最重套管柱所形成的静制动转矩作为盘刹系统能满足的最小工作制动转矩为依据,通过验证计算结果,保障了液压盘式刹车系统的安全性和有效性.%The current braking torque of the hydraulic disc braking system is small and braking performance is instable.A new algorithm was designed based on the braking torque's calculation of the old algorithm.The work braking torque, emergency braking torque, park braking torque and the redundant safety design were calculated in this new algorithm.To improve the design efficiency and safety coefficient of the hydraulic disc braking system, the algorithm based on the working principle of the braking caliper, through the braking structure analysis of the braking caliper, according to the static braking torque formed by the heaviest casing string that put into the well could be taken as the minimum working braking torque which the disc braking system could meet.The safety and effectiveness of the hydraulic disc braking system are safeguarded through the authentication and calculation of the result.

  18. Electro Hydraulic Hitch Control

    DEFF Research Database (Denmark)

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

    2003-01-01

    system for agricultural applications and driving for transportation. During tranport phases, the lack of suspension causes the vehicle to bounce and pitch, and makes it difficalt to control. Many systems have been proposed to cope with the oscillatory behavior, and different solutions exist. Common......This paper present and discusses R&D results on electro hydraulic hitch control for off-road vehicle, in particular active damping of oscillation occuring on tractors. The research deals with analysis and control of the oscillations occuring on tractors which are design without any susspection...... for most of the systems are that they operate on the hydrailc actuators generally providing the motive forces for moving the implement and/or attachment, typically a plough. The basic idea and physical working principle are to use the implement, moveable relative to the vehicle, as a damper mass. The paper...

  19. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle.

    Science.gov (United States)

    Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  20. Intelligently Controllable Walker with Magnetorheological Fluid Brake

    Science.gov (United States)

    Kikuchi, Takehito; Tanida, Sosuke; Tanaka, Toshimasa; Kobayashi, Keigo; Mitobe, Kazuhisa

    Caster walkers are supporting frames with casters and wheels. These tools are regularly utilized as life support tools or walking rehabilitation tools in hospitals, nursing homes and individual residences. Users of the walkers can easily move it thanks to its wheels and casters. However falling accidents often happen when it moves without users. The falling accident is very serious problem and one of leading causes of secondary injuries. In the other case, it is hard to move to desired directions if users have imbalance in their motor functions or sensory functions, e.g., hemiplegic patients. To improve safeness and operability of the walkers, we installed compact MR fluid brakes on the wheels and controlled walking speed and direction of the walker. We named this intelligently controllable walker, “i-Walker” and discussed on the control methods and experimental results in this paper. Preliminary trials for direction control of the first-generation of the i-Walker (i-Walker1) are presented. On the basis of the results, we improved the control method and hardware of the i-Walker1, and developed the second-generation (i-Walker2). System description and experimental results of the i-Walker2 are also described. The i-Walker2 has better operability and lower energy consumption than that of the i-Walker1. The line-tracing controller of the i-Walker2 well controls human motions during walking experiments on the target straight line.

  1. Control strategy of disc braking systems for downward belt conveyors

    Institute of Scientific and Technical Information of China (English)

    Hou Youfu; Xie Fangwei; Huang Fei

    2011-01-01

    Reliability of braking systems is a key requirement to ensure the safety of in using downward belt conveyor brakes.By analyzing and comparing three commonly used braking velocity curves,we conclude that the Harrison curve is the best.Given the characteristics of a downward belt conveyor,we studied the control in a closed-loop velocity,a conventional PID method and an optimal PID control method.We used MATLAB/Simulink to simulate the three control methods.Our simulation results show that optimal PID control is especially suitable for disc braking systems.To verify the results from theoretical analysis and simulation,a multifunctional test-bed was developed to simulate the braking process of a disc brake system.Our experimental results demonstrate that the optimal PID control can make the output velocity to follow a preset velocity correctly with only small fluctuations,meeting the requirements of a flexible brake for a belt conveyor.

  2. Linear Control Technique for Anti-Lock Braking System

    Directory of Open Access Journals (Sweden)

    Chankit Jain

    2014-08-01

    Full Text Available Antilock braking systems are used in modern cars to prevent the wheels from locking after brakes are applied. The dynamics of the controller needed for antilock braking system depends on various factors. The vehicle model often is in nonlinear form. Controller needs to provide a controlled torque necessary to maintain optimum value of the wheel slip ratio. The slip ratio is represented in terms of vehicle speed and wheel rotation. In present work first of all system dynamic equations are explained and a slip ratio is expressed in terms of system variables namely vehicle linear velocity and angular velocity of the wheel. By applying a bias braking force system, response is obtained using Simulink models. Using the linear control strategies like PI-type the effectiveness of maintaining desired slip ratio is tested. It is always observed that a steady state error of 10% occurring in all the control system models.

  3. Research on Modeling and Control of Regenerative Braking for Brushless DC Machines Driven Electric Vehicles

    OpenAIRE

    Jian-ping Wen; Chuan-wei Zhang

    2015-01-01

    In order to improve energy utilization rate of battery-powered electric vehicle (EV) using brushless DC machine (BLDCM), the model of braking current generated by regenerative braking and control method are discussed. On the basis of the equivalent circuit of BLDCM during the generative braking period, the mathematic model of braking current is established. By using an extended state observer (ESO) to observe actual braking current and the unknown disturbances of regenerative braking system, ...

  4. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    OpenAIRE

    Jiankun Peng; Hongwen He; Wei Liu; Hongqiang Guo

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking s...

  5. 静动液辅助制动系统恒转矩制动策略研究%Research on Constant Torque Braking Strategy of Hydrostatic and Hydraulic Auxiliary Braking System

    Institute of Scientific and Technical Information of China (English)

    吕建刚; 郭劭琰; 李彦路; 滕飞; 宋彬

    2012-01-01

    A constant torque braking strategy for tracked vehicle hydrostatic and hydraulic auxiliary braking system is studied. Combining the test and theoretical analysis results, the influence law of coupler filling liquid quantity and hydraulic pump discharge variation to vehicle braking force under the hydrodynamic braking and hydrostatic braking work condition is obtained. Absorbing the advantages of hydrodynamic braking and hydrostatic braking,aiming at the work condition of hydrodynamic - hydrostatic braking, the constant torque braking strategy is built. The vehicle constant torque braking is achieved through the automatic regulation of coupler filling liquid quantity and hydraulic pump discharge. The efficiency is verified through the comparison of energy recovery and braking length before and after using constant torque braking strategy.%对履带车辆液力辅助制动系统的恒转矩制动策略进行了研究.结合实验与理论分析的结果,得到了液压制动与液力制动工况下偶合器充液量、液压泵排量的变化对车辆制动力的影响规律,吸取了液压制动与液力制动的优点,针对液力-液压制动工况建立了恒转矩制动策略.通过对偶合器充液量、液压泵排量的自动调节,实现了车辆的恒转矩制动.最后对采用恒转矩制动策略前后的能量回收率与制动距离进行了对比,验证了该策略的效能.

  6. Research on Modeling and Control of Regenerative Braking for Brushless DC Machines Driven Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Jian-ping Wen

    2015-01-01

    Full Text Available In order to improve energy utilization rate of battery-powered electric vehicle (EV using brushless DC machine (BLDCM, the model of braking current generated by regenerative braking and control method are discussed. On the basis of the equivalent circuit of BLDCM during the generative braking period, the mathematic model of braking current is established. By using an extended state observer (ESO to observe actual braking current and the unknown disturbances of regenerative braking system, the autodisturbances rejection controller (ADRC for controlling the braking current is developed. Experimental results show that the proposed method gives better recovery efficiency and is robust to disturbances.

  7. Stabilization of synchronous generator by fuzzy logic controlled braking resistor

    Energy Technology Data Exchange (ETDEWEB)

    Ali, M.H.; Funamoto, T.; Murata, T.; Tamura, J. [Kitami Inst. of Technology, Dept. of Electrical and Electronic Engineering, Hokkaido (Japan)

    2000-08-01

    In order to enhance the transient stability of synchronous generator, a fuzzy logic switching control scheme for the braking resistor is proposed. Following a fault, variable rotor speed of the generator is measured and the firing-angle of the thyristor switch in the braking resistor is determined from the crispy output of the fuzzy controller. By controlling the firing-angle of the thyristor, braking resistor can control the accelerating power in generator and thus improves the transient stability. Simulation results have been demonstrated for both balanced and unbalanced faults. It can be concluded from the simulation results that the proposed strategy provides a simple and effective method of stabilization of synchronous generator under transient conditions. (orig.)

  8. The Improvement of Hydraulic System in Press Brake%折弯机液压系统的改进

    Institute of Scientific and Technical Information of China (English)

    尹亮

    2011-01-01

    On the analysis of design faults in the hydraulic system for the 1000kN press brake, the design has been improved. The practice production shows that the improvement has a good effect.%在分析1000kN折弯机液压系统设计缺陷的基础上,进行了改进.经一段时间的生产表明,达到了预期效果.

  9. Regenerative braking control strategy in mild hybrid electric vehicles equipped with automatic manual transmission

    Institute of Scientific and Technical Information of China (English)

    QIN Datong; YE Ming; LIU Zhenjun

    2007-01-01

    The actual regenerative braking force of an integrated starter/generator (ISG),which is varied with desired braking deceleration and vehicle speed,is calculated based on an analysis of the required deceleration,maximum braking force of ISG,engine braking force and state of charge (SOC) of battery.Braking force distribution strategies are presented according to the actual regenerative braking force of ISG.To recover the vehicle's kinetic energy maximally,braking shift rules for a mild hybrid electric vehicle (HEV) equipped with automatic manual transmission (AMT) are brought forward and effects of transmission ratios are considered.A test-bed is built up and regenerative braking tests are carried out.The results show that power recovered by the braking shift rules is more than that recovered by the normal braking control rules.

  10. Quality control of cast brake discs

    Directory of Open Access Journals (Sweden)

    M. Stawarz

    2008-04-01

    Full Text Available The largest industrial application so far have the gray cast irons which are characterized by low tensile and bending strength, while at the same time they have good ultimate comprehensive strength. Additionally, the fatigue strength of gray cast irons is comparatively low and they are only to some extend sensitive for the surface waters effects. Cast iron is the material, which is comparatively easy to be processed, and for this reason – it is not expensive. Brake discs are exploited in particularly hard conditions. They must be resistant both against the thermal fatigue and abrasion wearing (at dry friction as well as against seizing, corrosion and mechanical load [1-3]. The gray cast iron, better than other materials, fulfills all the requirements necessary for making the material for the casts resistant against such tough conditions. This work reflects the researches aiming to define the quality of cast brake discs (ventilated and non-ventilated ones upon a period of their exploitation in real conditions. The following researches were performed: evaluations of the disc surface condition, measurement of disc thickness, examination of run – out flank and metallographic analysis. In order to more detailed recognition of mechanisms and reasons of brake discs wearing in real conditions, one should conduct additional examinations: computer analysis of the microstructure, chemical composition analysis, etc., as well as study of the technology of their production in foundries, where they are manufactured [4]. By obtaining the full set of the mentioned above data one can draw final conclusions and remove causes of possible defects.

  11. Stability Control of Vehicle Emergency Braking with Tire Blowout

    Directory of Open Access Journals (Sweden)

    Qingzhang Chen

    2014-01-01

    Full Text Available For the stability control and slowing down the vehicle to a safe speed after tire failure, an emergency automatic braking system with independent intellectual property is developed. After the system has received a signal of tire blowout, the automatic braking mode of the vehicle is determined according to the position of the failure tire and the motion state of vehicle, and a control strategy for resisting tire blowout additional yaw torque and deceleration is designed to slow down vehicle to a safe speed in an expected trajectory. The simulating test system is also designed, and the testing results show that the vehicle can be quickly stabilized and kept in the original track after tire blowout with the emergency braking system described in the paper.

  12. Controls of Hydraulic Wind Turbine

    Directory of Open Access Journals (Sweden)

    Zhang Yin

    2016-01-01

    Full Text Available In this paper a hydraulic wind turbine generator system was proposed based on analysis the current wind turbines technologies. The construction and principles were introduced. The mathematical model was verified using MATLAB and AMsim. A displacement closed loop of swash plate of motor and a speed closed loop of generator were setup, a PID control is introduced to maintain a constant speed and fixed frequency at wind turbine generator. Simulation and experiment demonstrated that the system can connect grid to generate electric and enhance reliability. The control system demonstrates a high performance speed regulation and effectiveness. The results are great significant to design a new type hydraulic wind turbine system.

  13. Electro-mechanical Braking Method in Hybrid Electric Vehicles Based on Feedback Control Theory

    Institute of Scientific and Technical Information of China (English)

    ZHANG Li; YU Jun-quan; LIU Zheng-yu; CHANG Cheng

    2014-01-01

    In this paper, the hybrid electric vehicle braking process is researched, by using variables consists of HEV speed, motor speed, and state of charge established, functions of mechanical braking force, regenerative braking force and efficiency of energy recovery are constructed, and the control goal is to maximization the energy recovery efficiency. Under the feedback control strategy, with the constrain condition of braking strength and braking stability, combining experiments in ADVISOR, in different experiments of different working conditions, we can see that in UDDS Cycle, the regenerative braking efficiency is the best. What’s more, compared with strategies in ADVISOR, strategy proposed in this paper is obviously better.

  14. Simulation on Series Electro-hydraulic Combined Braking for 4WD Hybrid Electric Car%四驱混合动力轿车串联式电液复合制动仿真

    Institute of Scientific and Technical Information of China (English)

    赵治国; 彭玉钢

    2012-01-01

    针对自主开发的四轮驱动混合动力轿车,设计了串联式制动能量回收系统。基于制动安全性和最大化回收制动能量的原则,提出了ABS液压制动与再生制动协调控制的电液复合制动控制策略。该策略先根据驾驶员的操作实时计算制动强度和总需求制动力矩,然后依据制动强度大小对总需求制动力矩进行分配,并且实时检测车轮滑移率以判断是否切换到ABS独立工作模式。并在Simulink软件平台上建立了样车动力传动、制动系统及控制策略模型,分别在轻度、中度和紧急制动三种制动工况下仿真了串联式制动能量回收系统的性能。仿真结果表明:所提出的电液复合制动控制策略能有效地提高制动能量的回收效率,且在紧急制动时能保证车辆的制动稳定性能。%A new type of series regenerative braking system was designed for 4WD-hybrid electric car.Based on a principle of braking safety and maximize energy recovery,a electro-hydraulic combined braking control strategy for the sake of coordinately controlled between regenerative braking and ABS hydraulic braking was proposed.This strategy firstly calculated the braking strength and the braking torque required on the basis of driver's operation,then according to braking strength,the braking torque required was distributed,besides judging when would the operating mode switch to ABS mode by real-time detection of slip ratio.Simulation model including powertrain,braking system and control strategy was modeled on Matlab/Simulink,the performance of Series Regenerative Braking system was respectively verified in the condition of slight braking,moderate braking and emergency braking.The simulation results show that the proposed strategy obviously improves the braking energy recovery efficiency,meanwhile making sure that the car has a good braking performance in an emergency braking condition.

  15. Research on the Feasibility of Application of ABS in Hydraulic Disc Brake%ABS在液压盘式刹车中应用的可行性研究

    Institute of Scientific and Technical Information of China (English)

    石固欧; 刘威

    2013-01-01

    The anti-lock braking system (ABS) of automobiles has such advantages as slippage and lock prevention,relatively short distance of braking and reduction of tyre wear.Therefore,the ABS control strategy was introduced to the design of the hydraulic system of drilling and workover rigs.The neotype hydraulic control system of hydraulic disc brake with both manual and automatic operation modes was built,which could achieve ABS control strategy.A comparative braking dynamic simulation analysis of the hydraulic system and running conditions with and without the ABS system was conducted.The analysis shows that selection of the proper duty cycle of the ABS system can get closer to the braking time and angle displacement without the ABS system.The better pressure regulation waveform had been obtained.Regulation of the ABS control strategy can obtain the ideal braking time and brake's braking torque.Therefore,the complex requirement of workover lifting system for operation process can be satisfied desirably.%汽车ABS防抱死刹车系统具有防滑防抱、制动相对距离短及能减轻轮胎磨损等优点.为此,将汽车ABS控制策略引入到钻(修)井机液压盘式刹车系统设计中,构建了具有手动/自动操作方式且能实现ABS控制策略的液压盘式刹车的新型液压控制系统,并对具有ABS系统与无ABS系统的盘式刹车分别进行液压系统与下入工况制动动力学仿真对比分析.分析结果表明,选择适当的ABS系统占空比,可以更接近无ABS系统刹车时间与角位移,并获得较好的压力调节波形,调整ABS控制策略可使系统获得理想的刹车时间与刹车制动力矩,从而能够较好地满足修井机起升系统作业过程的复杂要求.

  16. Slide Mode Control for Integrated Electric Parking Brake System

    OpenAIRE

    Bin Wang; Xuexun Guo; Chengcai Zhang; Zhe Xiong; Huan Xia; Jie Zhang

    2013-01-01

    The emerging integrated electric parking brake (IEPB) system is introduced and studied. Through analyzing the various working stages, the stages switched IEPB system models are given with the consideration of the friction and system idle inertia. The sliding mode control (SMC) method is adopted to control the clamping force by the widely used motor angle and clamping force relationship method. Based on the characteristics of the state equations, two sliding surfaces are built to control the m...

  17. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Science.gov (United States)

    Peng, Jiankun; He, Hongwen; Guo, Hongqiang

    2015-01-01

    This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved. PMID:26236772

  18. Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Jiankun Peng

    2015-01-01

    Full Text Available This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

  19. Simulation analysis of hydraulic regenerative braking system for pure electric vehicle based on AMESim%基于AMESim的纯电动汽车液压再生制动系统的研究

    Institute of Scientific and Technical Information of China (English)

    徐耀挺; 宁晓斌; 王秋成

    2012-01-01

    为提高纯电动汽车制动时的再生制动能量回收率与汽车起步加速的动力性能,通过比较各种再生制动能量回收方案与储能方式,提出了在纯电动汽车的蓄电池回收制动能量的基础上加设液压制动能量回收系统.应用PID控制,在ECE-15循环工况下进行了仿真,并分析了整车的动力性能与能量的回收利用率.研究结果表明,在纯电动汽车上利用液压再生制动系统能够显著地提高整车的起步加速能力,并增加汽车的续驶里程28%左右.%In order to increase the regenerative braking energy recovery and the dynamic performance of vehicle start and acceleration in the stage of brake,the hydraulic braking energy recovery system was used with the storage battery braking energy recovery system after comparing kinds of regenerative braking recovery plan and energy storage method. The system was used to do simulation and analysis in vehicle dynamic performance and energy recovery efficiency under the PID control and ECE-15 cycle. The system simulation and analysis results show that, using hydraulic regenerative braking system in pure electric vehicle.it can significantly improve the ability of vehicle's start-acceleration and increase the vehicle driving range around 28%.

  20. 液压同步系统和液压制动系统在行走马达上的应用%Application of Hydraulic Synchronization System and Hydraulic Brake System on Walking Motor

    Institute of Scientific and Technical Information of China (English)

    张帅君; 赖雨薇; 刘会涛; 高伟航; 张庆勇; 苏伟民

    2015-01-01

    A new kind of loop was introduced in which hydraulic synchronization and hydraulic brake could be realized. How to realize synchronization and braking functions was illustrated through example. And the loop has simple structure, practicality and safety utmostly.%介绍一种可同时实现液压同步和液压制动的回路,通过具体实例说明如何实现同步和制动的功能,并且最大可能实现结构简单、经济实用和安全可靠。

  1. Digital Sliding Mode Control of Anti-Lock Braking System

    Directory of Open Access Journals (Sweden)

    MITIC, D. B.

    2013-02-01

    Full Text Available The control of anti-lock braking system is a great challenge, because of the nonlinear and complex characteristics of braking dynamics, unknown parameters of vehicle environment and system parameter variations. Using some of robust control methods, such as sliding mode control, can be a right solution for these problems. In this paper, we introduce a novel approach to design of ABS controllers, which is based on digital sliding mode control with only input/output measurements. The relay term of the proposed digital sliding mode control is filtered through digital integrator, reducing the chattering phenomenon in that way, and the additional signal of estimated modelling error is introduced into control algorithm to enhance the system steady-state accuracy. The given solution was verified in real experimental framework and the obtained results were compared with the results of implementation of two other digital sliding mode control algorithms. It is shown that it gives better system response, higher steady-state accuracy and smaller chattering.

  2. Control of start-up and dynamic braking of conveyors used for downhill transport in surface mines

    Energy Technology Data Exchange (ETDEWEB)

    Rosseger, A.; Borczyk, Z.; Kwater, M. (POLTEGOR Instytut, Wroclaw (Poland))

    1992-04-01

    Presents the structure of a microprocessor-aided control system for conveyors used in surface mines for downhill transport. Control of motor start-up and braking is performed in 8 speed stages. Permissible starting time duration is taken into consideration. The procedure of direct current braking is described. The microprocessor activates emergency braking by disc brakes if direct current braking is not sufficient. The system was implemented on four conveyors and has been used successfully since 1990.

  3. A Combined Cooperative Braking Model with a Predictive Control Strategy in an Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Hongqiang Guo

    2013-12-01

    Full Text Available Cooperative braking with regenerative braking and mechanical braking plays an important role in electric vehicles for energy-saving control. Based on the parallel and the series cooperative braking models, a combined model with a predictive control strategy to get a better cooperative braking performance is presented. The balance problem between the maximum regenerative energy recovery efficiency and the optimum braking stability is solved through an off-line process optimization stream with the collaborative optimization algorithm (CO. To carry out the process optimization stream, the optimal Latin hypercube design (Opt LHD is presented to discrete the continuous design space. To solve the poor real-time problem of the optimization, a high-precision predictive model based on the off-line optimization data of the combined model is built, and a predictive control strategy is proposed and verified through simulation. The simulation results demonstrate that the predictive control strategy and the combined model are reasonable and effective.

  4. Characteristic Analysis and Control of a Hybrid Excitation Linear Eddy Current Brake

    Directory of Open Access Journals (Sweden)

    Baoquan Kou

    2015-07-01

    Full Text Available In this paper, a novel hybrid excitation linear eddy current brake is presented as a braking system for high-speed road and rail vehicles. The presence of the permanent magnets (PMs, whose flux lines in the primary core are oppositely directed with respect to the flux lines by the excitation windings, has the effect of mitigating the saturation of the iron in the teeth of the primary core. This allows the brake to be fed with more intense currents, improving the braking force. First, using the magnetic equivalent circuit method and the layer theory approach, the analytical model of the hybrid excitation linear eddy current brake was developed, which can account for the saturation effects occurring in the iron parts. The saturation effects make the design and control of eddy current brakes more difficult. Second, the relationship between the braking force characteristics and the design parameters were analyzed to provide useful information to the designers of eddy current brakes. Then, the controller of the hybrid excitation linear eddy current brake was designed to control the amplitude of the braking force. Finally, experimental measurements were conducted to verify the validity of the theoretical analysis.

  5. Slide Mode Control for Integrated Electric Parking Brake System

    Directory of Open Access Journals (Sweden)

    Bin Wang

    2013-01-01

    Full Text Available The emerging integrated electric parking brake (IEPB system is introduced and studied. Through analyzing the various working stages, the stages switched IEPB system models are given with the consideration of the friction and system idle inertia. The sliding mode control (SMC method is adopted to control the clamping force by the widely used motor angle and clamping force relationship method. Based on the characteristics of the state equations, two sliding surfaces are built to control the motor angle and current, respectively. And in every working stage, the control stability is guaranteed by choosing the control parameters based on Lyapunov theory and SMC reachability. The effectiveness of the proposed control system has been validated in Matlab/Simulink.

  6. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real...

  7. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real...

  8. Hydraulic Actuator for Ganged Control Rods

    Science.gov (United States)

    Thompson, D. C.; Robey, R. M.

    1986-01-01

    Hydraulic actuator moves several nuclear-reactor control rods in unison. Electromagnetic pump pushes liquid lithium against ends of control rods, forcing them out of or into nuclear reactor. Color arrows show lithium flow for reactor startup and operation. Flow reversed for shutdown. Conceived for use aboard spacecraft, actuator principle applied to terrestrial hydraulic machinery involving motion of ganged rods.

  9. Recovering system of swing braking energy in hydraulic excavator%液压挖掘机回转制动能量回收系统

    Institute of Scientific and Technical Information of China (English)

    管成; 徐晓; 林潇; 王守洪

    2012-01-01

    为了回收液压挖掘机在回转阶段的制动能量,提出一种基于回转马达进/出口压力差自动识别回转过程所处阶段,决策能量回收的全液压自动控制回转制动能量回收系统.引入一正态分布函数,以蓄能器压力状态(SOP)、液压泵出口压力以及负流量反馈压力为输入信号,根据负载的实时需求功率,提出一种以复合恒功率-负流量动力控制决策发动机和蓄能器主辅动力源的能量分配方法,保证回转机构的正常高效运转.仿真结果表明,当回转系统作为单独执行机构时,采用该回收系统的液压挖掘机,能够实现高达50.0%的再生制动能量用于驱动回转的能量回收利用效率,在相同工况下比同吨位液压挖掘机节能16.3%,不影响操作习惯和操作性能.%In order to recover the braking energy from the hydraulic excavator during swing phase,an automatic hydraulic-controlled braking energy recovery system was proposed which can automatically identify the swing stage by the pressure difference between inlet and outlet of the swing pump and determining distribution algorithm of the recovering energy. One normal school function was introduced. State of pressure (SOP) of the accumulator, the outlet pressure of the hydraulic pump and the feedback pressure from negative-flow control were considered as input signals. According to the real-time required power of the load, the energy distribution algorithm was proposed based on the comprehensive constant-power negative-flow control between the main power source and the auxiliary power source (that is engine and accumulator) , which ensures the normal operation of the swing mechanism. Simulation results show that the hydraulic excavator equipped with the swing recovery system can achieve 16. 3% energy saving compared with the baseline under the same working condition, and the overall chain efficiency from the total braking energy to the terminal swing mechanism is as

  10. Control arrangement for the actuation of hydraulic consumers

    Energy Technology Data Exchange (ETDEWEB)

    Kussel, W.; Dettmers, M.; Weirich, W.

    1988-11-09

    An arrangement for controlling the actuation of hydraulic consumers, by selectively connecting the consumers to hydraulic pressure and return lines; the control arrangement comprising a respective hydraulically operated directional control valve associated with each of the hydraulic consumers, a respective electro-magnetically operated pre-control valve associated with each of the hydraulic directional control valves, and further electro-magnetically operated directional control valve means associated with the pre-control valves, each of the hydraulic consumers being connectible to the hydraulic pressure or return lines via the associated hydraulically operated directional control valve which is actuatable by a hydraulic control line leading from the output of the associated pre-control valve, wherein the inputs of the pre-control valves are connected directly to the hydraulic return line and indirectly, via the further control valve means, to the hydraulic return line or to a hydraulic control pressure line.

  11. Parameters Matching and Control Method of Hydraulic Hybrid Vehicles with Secondary Regulation Technology

    Institute of Scientific and Technical Information of China (English)

    SUN Hui; JIANG Jihai; WANG Xin

    2009-01-01

    Hydraulic hybrid vehicles (HHV) with secondary regulation technology has the potential of improving fuel economy by operating the engine in the optimum efficiency range and making use of regenerative braking. Hydrostatic transmission technology has the advantage of higher power density and the ability to accept the high rates and high frequencies of charging and discharging, both of which are not favorable for batteries, but the lower energy density requires special power matching design and control strategy to coordinate all the powertrain components in an optimal manner. A multi-objective optimization method is proposed to distinguish the components size values of HHV by considering the requirements of driving cycles and technology aspects. The regenerative braking strategy and energy control strategy based on the optimized HHV is proposed to recovery the braking energy and distribute the regenerated braking energy. Simulation results show that by taking the optimized configuration of HHV, adopting the regenerative braking strategy and energy control strategy are helpful to improve the system efficiency and fuel economy of HHV under urban driving cycles.

  12. Design and Analysis of Electro-mechanical Hybrid Anti-lock Braking System for Hybrid Electric Vehicle Utilizing Motor Regenerative Braking

    Institute of Scientific and Technical Information of China (English)

    ZHANG Jianlong; YIN Chengliang; ZHANG Jianwu

    2009-01-01

    Braking on low adhesion-coefficient roads, hybrid electric vehicle's motor regenerative torque is switched off to safeguard the normal anti-lock braking system (ABS) function. When the ABS control is terminated, the motor regenerative braking is readmitted.Aiming at avoiding permanent cycles from hydraulic anti-lock braking to motor regenerative braking, a novel electro-mechanical hybrid anti-lock braking system using fuzzy logic is designed. Different from the traditional single control structure, this system has a two-layered hierarchical structure. The first layer is responsible for harmonious adjustment or interaction between regenerative system and anti-lock braking system. The second layer is responsible for braking torque distribution and adjustment. The closed-loop simulation model is built. Control strategy and method for coordination between regenerative and anti-lock braking are developed. Simulation braking on low adhesion-coefficient roads with fuzzy logic control and real vehicle braking field test are presented. The results from simulating analysis and experiment show braking performance of the vehicle is perfect, harmonious coordination between regenerative and anti-lock braking function, significant amount of braking energy can be recovered and the proposed control strategy and method are effective.

  13. 液压蓄能器制动能量回收系统建模与仿真%Hydraulic Accumulator Brake Energy Recovery System Modeling and Simulation

    Institute of Scientific and Technical Information of China (English)

    殷允朝

    2016-01-01

    本文分析了液压蓄能器混合动力制动回收系统基本组成和工作原理并建立力学模型,重点研究了基于Matlab/simulink仿真和传动比的匹配。结果表明:在最高转速变化允许范围内合理选择传动比的参数匹配,能缩短制动时间和获取较高的制动回收率。%Hydraulic accumulator hybrid brake recovery system basic composition and working principle are analyzed,Based on Matlab/simulink and the ratio of matching is key research, The results show that:In the range of allowable maximum speed change the rational selection of parameters matching ratio, Braking time is shortened and Brake recovery rate was improved.

  14. Investigation of energy efficiency for electro-hydraulic composite braking system which is based on the regenerated energy

    National Research Council Canada - National Science Library

    Bin Ma; Muyi Lin; Yong Chen; Lian-xin Wang

    2016-01-01

      A novel structure of the combined braking system based on the regenerative braking energy has been proposed to achieve simplified structure and energy-saving capability simultaneously, which includes...

  15. Investigation of energy efficiency for electro-hydraulic composite braking system which is based on the regenerated energy

    National Research Council Canada - National Science Library

    Ma, Bin; Lin, Muyi; Chen, Yong; Wang, Lian-xin

    2016-01-01

    A novel structure of the combined braking system based on the regenerative braking energy has been proposed to achieve simplified structure and energy-saving capability simultaneously, which includes...

  16. 基于ADAMS的电力液压盘式制动器仿真研究%Simulation of Electro-hydraulic Disc Brake Based on ADAMS

    Institute of Scientific and Technical Information of China (English)

    姜朝俊; 田树涛; 孔祥虎

    2015-01-01

    以电力液压盘式制动器为研究对象 ,利用ADAMS软件进行建模仿真 ,优化分析获得制动器所需要的制动力矩和间隙.仿真数据与试验数据对比表明 :ADAMS软件的分析结果和试验数据基本吻合 ,为制动器的设计和计算提供了可靠的方法和依据 ,节省了研发费用并缩短了开发周期.%Taking an electro-hydraulic disc brake as research object ,this paper carried out the simulation analysis on electro-hydraulic disc brake ,getting braking moment and clearance .Experimental data show the analytical results of ADAMS agree with that of ex-perimental data .It provides a reliable method and basis for the design of brakes .

  17. Towards Autonomous Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of new developed control algorithms to increase autonomy and intelligence of hydraulic control systems. A refinement of relaytuning method is used to determine the control parameters of a lag/lead controller and a poleplacement controller. Further, a fail-safe function is developed t...

  18. 基于混合系统理论的串联式再生制动控制策略分析%Analysis on the Control Strategy for Series Regenerative Braking Based on Hybrid System Theory

    Institute of Scientific and Technical Information of China (English)

    宋士刚; 李小平; 孙泽昌

    2015-01-01

    With series regenerative braking system of electric vehicle as the object of study, by the analyses on braking energy and braking regulations, the safe operation range of electro-hydraulic hybrid regenerative braking is theoretically determined, and with concurrent consideration of motor regenerative braking and battery charging power, a mathematical model for the optimization of regenerative braking is established. Based on the theory of hy-brid system and the model for hybrid automata, the regenerative braking system is visually described and a regenera-tive braking control strategy is proposed with coordinated control between motor regenerative braking force and the hydraulic braking forces on front and rear wheels, and a simulation is conducted on control model. The results indi-cate that the regenerative braking control strategy proposed increases the proportion of motor regenerative braking and thus enhance the recovery rate of vehicle braking energy in braking process.%以电动汽车串联式再生制动系统为研究对象,通过对制动能量和制动法规的分析,从理论上确定了电液复合再生制动的安全运行范围,并综合考虑电机再生制动和电池充电功率,建立了再生制动优化问题的数学模型。基于混合系统理论,利用混合自动机模型,直观描述了再生制动系统,提出了电机再生制动力和前后轮液压制动力协调控制的再生制动控制策略,并对控制模型进行了仿真分析。结果表明,该再生制动控制策略在制动过程中增加了电机再生制动的比例,从而提高了汽车制动能量的回收率。

  19. Energy-Regenerative Braking Control of Electric Vehicles Using Three-Phase Brushless Direct-Current Motors

    OpenAIRE

    Bo Long; Shin Teak Lim; Ji Hyoung Ryu; Kil To Chong

    2013-01-01

    Regenerative braking provides an effective way of extending the driving range of battery powered electric vehicles (EVs). This paper analyzes the equivalent power circuit and operation principles of an EV using regenerative braking control technology. During the braking period, the switching sequence of the power converter is controlled to inverse the output torque of the three-phase brushless direct-current (DC) motor, so that the braking energy can be returned to the battery. Compared with ...

  20. A method to model anticipatory postural control in driver braking events

    NARCIS (Netherlands)

    Osth, J.; Eliasson, E.; Happee, R.; Brolin, K.

    2014-01-01

    Human body models (HBMs) for vehicle occupant simulations have recently been extended with active muscles and postural control strategies. Feedback control has been used to model occupant responses to autonomous braking interventions. However, driver postural responses during driver initiated brakin

  1. A method to model anticipatory postural control in driver braking events.

    Science.gov (United States)

    Östh, Jonas; Eliasson, Erik; Happee, Riender; Brolin, Karin

    2014-09-01

    Human body models (HBMs) for vehicle occupant simulations have recently been extended with active muscles and postural control strategies. Feedback control has been used to model occupant responses to autonomous braking interventions. However, driver postural responses during driver initiated braking differ greatly from autonomous braking. In the present study, an anticipatory postural response was hypothesized, modelled in a whole-body HBM with feedback controlled muscles, and validated using existing volunteer data. The anticipatory response was modelled as a time dependent change in the reference value for the feedback controllers, which generates correcting moments to counteract the braking deceleration. The results showed that, in 11 m/s(2) driver braking simulations, including the anticipatory postural response reduced the peak forward displacement of the head by 100mm, of the shoulder by 30 mm, while the peak head flexion rotation was reduced by 18°. The HBM kinematic response was within a one standard deviation corridor of corresponding test data from volunteers performing maximum braking. It was concluded that the hypothesized anticipatory responses can be modelled by changing the reference positions of the individual joint feedback controllers that regulate muscle activation levels. The addition of anticipatory postural control muscle activations appears to explain the difference in occupant kinematics between driver and autonomous braking. This method of modelling postural reactions can be applied to the simulation of other driver voluntary actions, such as emergency avoidance by steering.

  2. 飞机数字电传防滑刹车系统污染控制方法研究%Study on the Pollution Control Method for Aircraft Digital Telex Antiskid Brake System

    Institute of Scientific and Technical Information of China (English)

    刘忠平; 亢敏; 韩亚国; 赵文庆

    2015-01-01

    The work principles, using requirements and pollution control requirements for high precision electro⁃hydraulic servo valve were discussed from a view of solving oil pollution problem synthetically in braking control system. The pollution control methods and ways were proposed. Through controlling pollution in the aspects of design, utility and maintenance of the braking control system, braking wheels and hydraulic tubes, holding brake pressure in air and braking failures caused by hydraulic oil pollution could be effec⁃tively avoided.%从刹车系统污染综合治理角度出发,论述了飞机刹车控制系统中高精度电液伺服阀的工作原理、选用要求及污染度控制要求,提出了飞机刹车系统油液污染控制的方法和途径。通过在刹车系统、刹车机轮、刹车管路的设计、使用、维护等方面进行污染控制,能够有效避免飞机刹车系统在使用中由于污染问题导致着陆过程中出现空中带压、刹车失效现象。

  3. Vibration control of an artificial muscle manipulator with a magnetorheological fluid brake

    Science.gov (United States)

    Tomori, H.; Midorikawa, Y.; Nakamura, T.

    2013-02-01

    Recently, proposed applications of robots require them to contact human safely. Therefore, we focus on pneumatic rubber artificial muscle. This actuator is flexible, light, and has high-power density. However, because the artificial muscle is flexible, it vibrates when there is a high load. Therefore, we paid attention to the magnetorheological (MR) fluid. We propose a control method of the MR brake considering energy of the manipulator system. By this control method, MR brake dissipates energy leading to vibration of the manipulator. In this paper, we calculated the energy and controlled the MR brake. And, we deliberated the proposal method by simulation using the dynamic model of the manipulator, and experiment.

  4. Study on the Energy-Regeneration-based Velocity Control of the Hydraulic-Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    SONG Yunpu

    2012-11-01

    Full Text Available This paper simplifies the energy regenerationbased vehicle velocity system of the hydraulichybrid businto a process in which the extension rod of the hydraulic cylinder drives the secondary-element variable delivery pump/motor to change its displacement. This process enables braking of the vehicle and also allows recovery of energy. The stability, energy efficiency and other characteristics of the system are studied based on analysis of mathematical models of the vehicle velocity control. The relevant controller is designed to study effects of the controller on system characteristics. The vehicle velocity control module of the energy regeneration system is stable and able to recovery the inertia energy generated in vehicle braking. After the controller intended to improve response speed is added, system response becomes quicker but energy recovery rate declines.

  5. DETERMINATION OF BRAKING OPTIMAL MODE OF CONTROLLED CUT OF DESIGN GROUP

    Directory of Open Access Journals (Sweden)

    A. S. Dorosh

    2015-06-01

    Full Text Available Purpose. The application of automation systems of breaking up process on the gravity hump is the efficiency improvement of their operation, absolute provision of trains breaking up safety demands, as well as improvement of hump staff working conditions. One of the main tasks of the indicated systems is the assurance of cuts reliable separation at all elements of their rolling route to the classification track. This task is a sophisticated optimization problem and has not received a final decision. Therefore, the task of determining the cuts braking mode is quite relevant. The purpose of this research is to find the optimal braking mode of control cut of design group. Methodology. In order to achieve the purpose is offered to use the direct search methods in the work, namely the Box complex method. This method does not require smoothness of the objective function, takes into account its limitations and does not require calculation of the function derivatives, and uses only its value. Findings. Using the Box method was developed iterative procedure for determining the control cut optimal braking mode of design group. The procedure maximizes the smallest controlled time interval in the group. To evaluate the effectiveness of designed procedure the series of simulation experiments of determining the control cut braking mode of design group was performed. The results confirmed the efficiency of the developed optimization procedure. Originality. The author formalized the task of optimizing control cut braking mode of design group, taking into account the cuts separation of design group at all elements (switches, retarders during cuts rolling to the classification track. The problem of determining the optimal control cut braking mode of design group was solved. The developed braking mode ensures cuts reliable separation of the group not only at the switches but at the retarders of brake position. Practical value. The developed procedure can be

  6. Research on motor braking-based DYC strategy for distributed electric vehicle

    Science.gov (United States)

    Zhang, Jingming; Liao, Weijie; Chen, Lei; Cui, Shumei

    2017-08-01

    In order to bring into full play the advantages of motor braking and enhance the handling stability of distributed electric vehicle, a motor braking-based direct yaw moment control (DYC) strategy was proposed. This strategy could identify whether a vehicle has under-steered or overs-steered, to calculate the direct yaw moment required for vehicle steering correction by taking the corrected yaw velocity deviation and slip-angle deviation as control variables, and exert motor braking moment on the target wheels to perform correction in the manner of differential braking. For validation of the results, a combined simulation platform was set up finally to simulate the motor braking control strategy proposed. As shown by the results, the motor braking-based DYC strategy timely adjusted the motor braking moment and hydraulic braking moment on the target wheels, and corrected the steering deviation and sideslip of the vehicle in unstable state, improving the handling stability.

  7. Bicycle Braking System

    OpenAIRE

    Brady, Noel

    2001-01-01

    A bicycle braking system for permitting controlled rotation and continuous power to the wheels of a bicycle during braking of the bicycle to enhance control of the bicycle during braking includes a cylindrical brake pad that is spring loaded within angled slots in a casing. The brake pad is positioned proximate the rim of a wheel and a cable assembly is coupled to the brake pad for urging the brake pad towards an end of the angled slots and against the rim of the wheel to slow rotation of the...

  8. Applications of magnetorheological brakes in manual control of lifting devices and manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Chciuk, M [University of Zielona Gora, 65-246 Zielona Gora, ul. Podgorna 50 (Poland); Milecki, A; Myszkowski, A [Poznan University of Technology, 60-965 Poznan, ul. Piotrowo 3 (Poland)], E-mail: andrzej.milecki@put.poznan.pl

    2009-02-01

    The article is aimed to design and testing of joystick with force feedback used in direct, human control of lifting device. The paper starts with the basic description of designed and tested by us MR rotary brake. Some initial laboratory investigations results of such brakes are presented. The usage of MR brakes in 2 axis joystick is proposed. Such, built by as joystick, is described. It was used as Human-Machine Interface in active control of lifting device. The designed and built 2 axis manipulator with electrohydraulic drive is described. In the paper, the based on PC with input/output card, control system of mentioned above joystick with MR brake and manipulator is described. Finally the control algorithm is proposed.

  9. Pneumatic brake control for precision stopping of heavy-duty vehicles

    OpenAIRE

    Bu, Fanping; Tan, Han-Shue

    2007-01-01

    Precision stopping is an important automated vehicle control function that is critical in applications such as precision bus docking, automated truck or bus fueling, as well as automatic intersection, or toll booth stopping. The initial applications of this technology are most likely to be applied to heavy-duty vehicles such as buses or trucks. Such applications require specific attention to brake control since the characteristics of a typical pneumatic brake system of a heavy vehicle is inhe...

  10. Design and Analysis of Hydraulic System of Disc Brake for Downward Belt Conveyor%下运带式输送机盘式制动器液压系统设计与分析

    Institute of Scientific and Technical Information of China (English)

    刘灿杰; 贾跃虎; 刘志奇

    2011-01-01

    通过分析下运带式输送机制动工况的特点以及盘式制动器的优点,设计出适合各制动工况要求的新型盘式制动器液压系统.该液压系统具有松闸、保压、正常停车制动、超速制动、紧急制动和系统突然断电制动等功能.建立了系统的数学模型,将数学模型线性化后推导出了系统传递函数,分析了各元件参数对系统响应性的影响,为设计压力精细调节的制动器提供了理论基础.%The characteristics of braking condition of downward belt conveyor and advantages of disc brake were analyzed. A new hydraulic system of disc brake which met each braking condition requirement was designed. This hydraulic system have functions of loose braking, the normal parking braking, emergency braking and suddenly lose power braking. The mathematical model of this hydraulic system was established. The transfer function of this hydraulic system was deduced by the mathematical model linearization. The influences of the parameters to the response of the system were analyzed. The research work lays theory foundation for the design of brake with pressure fine adjustment.

  11. Mathematical Modeling of the Braking System of Wheeled Mainline Aircraft

    Directory of Open Access Journals (Sweden)

    I. S. Shumilov

    2016-01-01

    Full Text Available The braking system of the landing gear wheels of a mainline aircraft has to meet mandatory requirements laid out in the Aviation Regulations AP-25 (Para 25.735. «Brakes and brake systems". These requirements are essential when creating the landing gear wheel brake control system (WBCS and are used as main initial data in its mathematical modeling. The WBCS is one of the most important systems to ensure the safe completion of the flight. It is a complex of devices, i.e. units (hydraulic, electrical, and mechanical, connected through piping, wiring, mechanical constraints. This complex should allow optimizing the braking process when a large number of parameters change. The most important of them are the following: runway friction coefficient (RFC, lifting force, weight and of the aircraft, etc. The main structural elements involved in braking the aircraft are: aircraft wheels with pneumatics (air tires and brake discs, WBCS, and cooling system of gear wheels when braking.To consider the aircraft deceleration on the landing run is of essence at the stage of design, development, and improvement of brakes and braking systems. Based on analysis of equation of the aircraft motion and energy balance can be determined energy loading and its basic design parameters, braking distances and braking time.As practice and analysis of energy loading show, they (brake + wheel absorb the aircraftpossessed kinetic energy at the start of braking as much as 60-70%, 70-80%, and 80-90%, respectively, under normal increased, and emergency operating conditions. The paper presents a procedure for the rapid calculation of energy loading of the brake wheel.Currently, the mainline aircrafts use mainly electrohydraulic brake systems in which there are the main, backup, and emergency-parking brake systems. All channels are equipped with automatic anti-skid systems. Their presence in the emergency (the third reserve channel significantly improves the reliability and safety of

  12. Simulation of a Hydraulic Pump Control Valve

    Science.gov (United States)

    Molen, G. Vander; Akers, A.

    1987-01-01

    This paper describes the mode of operation of a control valve assembly that is used with a hydraulic pump. The operating system of the valve is modelled in a simplified form, and an analogy for hydraulic resonance of the pressure sensing system is presented. For the control valve investigated, air entrainment, length and diameter of the resonator neck, and valve mass produced the greatest shift in resonant frequency. Experimental work was conducted on the hydraulic system so that the resonance levels and frequencies could be measured and the accuracy of the theory verified. The results obtained make it possible to evaluate what changes to any of the variables considered would be most effective in driving the second harmonic frequency above the operating range.

  13. Design and control of a dual unidirectional brake hybrid actuation system for haptic devices.

    Science.gov (United States)

    Rossa, Carlos; Lozada, José; Micaelli, Alain

    2014-01-01

    Hybrid actuators combining brakes and motors have emerged as an efficient solution to achieve high performance in haptic devices. In this paper, an actuation approach using two unidirectional brakes and a DC motor is proposed. The brakes are coupled to overrunning clutches and can apply a torque in only one rotational direction. The associated control laws, that are independent of the virtual environment model, calculate the control gains in real time in order limit the energy and the stiffness delivered by the motor to ensure stability. The reference torque is respected using the combination of the motor and the brake. Finally, an user experiment has been performed to evaluate the influence of passive and active torque differences in the perception of elasticity. The proposed actuator has a torque range of 0.03 Nm to 5.5 Nm with a 17.75 kNm (-2) torque density.

  14. Brake Fundamentals. Automotive Articulation Project.

    Science.gov (United States)

    Cunningham, Larry; And Others

    Designed for secondary and postsecondary auto mechanics programs, this curriculum guide contains learning exercises in seven areas: (1) brake fundamentals; (2) brake lines, fluid, and hoses; (3) drum brakes; (4) disc brake system and service; (5) master cylinder, power boost, and control valves; (6) parking brakes; and (7) trouble shooting. Each…

  15. Research on New Automobile Power Hydraulic Braking System by Vibratory Energy%新型振动能量主缸助力式汽车液压制动系统研究

    Institute of Scientific and Technical Information of China (English)

    李滟泽; 丁志华

    2013-01-01

    介绍了一种新型振动能量回收式液压减振系统,研究了一种振动能量主缸助力式汽车液压制动系统,油液在储液罐、减振器、蓄能器和制动液压元件之间循环流动.所述的振动能量助力式汽车液压制动系统能回收部分汽车的振动能量转化为液压能用于汽车助力制动,减小制动踏板力,降低驾驶疲劳度,缩短制动滞后时间,提高汽车制动安全性能.所述振动能量回收式液压减振系统申报了国家发明专利(CN102152778A),振动能量助力式汽车液压制动系统申报了国家实用新型专利(ZL 2011 20101080.1).%A new vibratory energy-recovery hydraulic damping system is introduced, and an automobile power hydraulic braking system by vibratory energy is researched. The oil is circulated between storage tank, energy accumulator, vibratum dampers and hydraulic components. The braking system can recycle some vibratory energy and convert to hydraulic energy which is used for automobile power braking system.It can reduce brake pedal force, lower fatigue of drive, shorten retardation time of braking, and enhance safety of braking. The vibratory energy-recovery hydraulic damping system has reported the national invention patent (CN102152778A), and the vibratory energy power-assisted automobile hydraulic braking system also has reported the national practical new patent(ZL 2011 2 0101080.1).

  16. Research on Recovering System of Braking Energy in Hydraulic Excavator%液压挖掘机制动能量的回收系统

    Institute of Scientific and Technical Information of China (English)

    吴文海; 郑辉; 邓斌; 刘桓龙

    2013-01-01

    针对传统液压挖掘机回转系统能量损失严重的问题,提出并设计一套液压挖掘机回转制动能量回收系统.分析该系统工作原理,以及液压蓄能器的参数匹配,通过AMESim软件建立模型,并进行仿真分析.仿真结果表明:该回转制动能量回收系统使挖掘机回转系统的节能效率达到50%左右,蓄能器进行能量回收的效率达到66.9%,回收能量再利用效率为50.3%,实现了节能减排的目的.%The paper proposes a recovering system of swing braking energy, which is designed to reduce the energy loss in hydraulic excavators swing system. Furthermore, the principle of the recovering system and the parameters of hydraulic accumulator are introduced. The simulation model is built by AMESim, Simulation results shown that the hydraulic excavator equipped with the recovering system of swing braking energy can save about 50% energy compared with the traditonal hydraulic excavator. The energy recovery efficiency can reach to 66. 9% with the hydraulic accumulator. The recovery energys utilization efficiency also can achieve 50. 3%. Thus, the recovering system meets the goal of energy-saving and emission-reduction.

  17. Study on the Integrated Control for Vehicle Stability Based on Two-wheeled Motor Regenerative Braking System%基于双轮式电机再生制动车辆稳定性集成控制研究

    Institute of Scientific and Technical Information of China (English)

    陈庆樟; 许广举; 孟杰; 焦洪宇

    2014-01-01

    Taking two-wheeled motor front drive electric vehicle regenerative braking system as the research object, the regenerative braking system coordinated controller was developed by integrating the dual-motor regenerative braking, hydraulic brake and the stability system. The vehicle braking mode and the allocation of braking torque were determined according to the vehicle's braking demand, vehicle status and energy storage system state, and the stability control torque was provided by the two-wheeled motor regenerative braking system according to the real-time vehicle stability condition. The results show that, compared with the motor unilateral independent control strategy, the integrated coordinated controller has better stability effect on vehicle braking in the process of turning.%以双轮式电机前驱电动汽车制动系统为研究对象,把双电机再生制动、液压制动、稳定性控制集成在一起,开发了再生制动系统协调控制器。根据车辆制动需求、车辆状态、系统储能状态等确定车辆制动模式及分配制动力矩,并根据车辆实时稳定性状况由双轮式电机再生制动提供车辆稳定性控制力矩。仿真和试验结果表明,在车辆转弯制动工况中采用所述集成协调控制器比采用电机单边独立控制稳定性控制效果更好。

  18. Parameters Tuning Approach for Proportion Integration Differentiation Controller of Magnetorheological Fluids Brake Based on Improved Fruit Fly Optimization Algorithm

    Directory of Open Access Journals (Sweden)

    Xinhua Liu

    2017-07-01

    Full Text Available In order to improve the response performance of a proportion integration differentiation (PID controller for magnetorheological fluids (MRF brake and to reduce the braking fluctuation rate, an improved fruit fly optimization algorithm for PID controller parameters tuning of MRF brake is proposed. A data acquisition system for MRF brake is designed and the transfer function of MRF brake is identified. Moreover, an improved fruit fly optimization algorithm (IFOA through integration of PID control strategy and cloud model algorithm is proposed to design a PID controller for MRF brake. Finally, the simulation and experiment are carried out. The results show that IFOA, with a faster response output and no overshoot, is superior to the conventional PID and fruit fly optimization algorithm (FOA PID controller.

  19. Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

    Directory of Open Access Journals (Sweden)

    Guo Lie

    2014-01-01

    Full Text Available Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian.

  20. Plug & Play Control of Hydraulic Networks

    DEFF Research Database (Denmark)

    Jensen, Tom Nørgaard

    2012-01-01

    Process Control research program, which the work presented here is a part of. An industrial case study involving a large-scale hydraulic network with non-linear dynamics is studied. The hydraulic network underlies a district heating system, which provides heating water to a number of end-users in a city...... structure has the additional benefit that structural changes such as the addition or removal of end-users are easily implementable. In this work, the problem of controlling the pressure drop at the end-users to a constant reference value is considered. This is done by the use of pumps located both...... are considered. Some of the work considers control actions which are constrained to non-negative values only. This is due to the fact that the actuators in this type of system typically consist of centrifugal pumps which are only able to deliver non-negative actuation. Other parts of the work consider control...

  1. Durability investigation on torque control of a magneto-rheological brake: experimental work

    Science.gov (United States)

    Kim, Wan Ho; Park, Jhin Ha; Kim, Gi-Woo; Shin, Cheol Soo; Choi, Seung-Bok

    2017-03-01

    This study experimentally investigates the torque control durability of a disc brake featuring a magneto-rheological (MR) fluid. An appropriate size of MR disc brake is designed based on a mathematical model, and a prototype is manufactured. A small-scale laboratory-scale test bed is then developed using a DC motor, in-line torque sensor, and the MR brake. S45C and S20C steels are inserted into a tapered hole on the surface of the brake disc. After 105 cycles of operation in shear mode, the wear properties of the MR brake are characterized by average surface roughness measurements, scanning electron microscope images, and energy dispersive x-ray spectra. The torque control performances before and after the operation cycles are examined using open-loop control and closed-loop proportional-integral-derivative control. As expected, the control performance degraded after 105 cycles of operation in the open-loop case, but not in the closed-loop case. This aspect is demonstrated by the sinusoidal torque-tacking control performance before and after the operation cycles.

  2. Accumulator Parameters Match the Characteristic Analysis of Hydraulic Brake for Trackless Rubber Tire Vehicle%全液压制动无轨胶轮车载蓄能器参数匹配与特性分析

    Institute of Scientific and Technical Information of China (English)

    梁玉芳

    2016-01-01

    根据目前无轨胶轮车全液压制动系统的使用情况,建立了蓄能器的数学模型,通过分析液压蓄能器参数匹配和能量利用对制动系统动态性能的影响,为液压制动系统蓄能器设计提供理论依据.%According to the current use of trackless rubber tire vehide hydraulic braking system, the mathematical model of the accumulator, hydraulic accumulator parameters by analyzing the matchand use of energy on the dynamic performance of the brake system, hydraulic brake system reservoir design can provide a theoretical basis.

  3. HYBRID CONTROL OF HYDRAULIC PRESS MACHINE BASED ON ROBUST CONTROL

    Institute of Scientific and Technical Information of China (English)

    FANG Yu; YANG Jian; CHAI Xiaodong

    2008-01-01

    A robust control algorithm is proposed to focus on the non-linearity and variables of the hydraulic press machine with the proportional valve. The proposed robust controller does not need to design stable compensator in advance, which is simple in design and has large scope of uncertainty applications. The feedback gains of the proposed robust controller are small, so it is easily implemented in engineering applications. The theoretical and experimental research on the position and speed control of the hydraulic press machine is carried out. The control requirements of the hydraulic press machine during the working process are met in the position and speed at the same time. Experimental results show that the proposed controller has better robustness subject to load variables and adaptability of parameter variations of the hydraulic press machine with the proportional valve.

  4. Human-simulated intelligent control of train braking response of bridge with MRB

    Science.gov (United States)

    Li, Rui; Zhou, Hongli; Wu, Yueyuan; Wang, Xiaojie

    2016-04-01

    The urgent train braking could bring structural response menace to the bridge under passive control. Based on the analysis of breaking dynamics of a train-bridge vibration system, a magnetorheological elastomeric bearing (MRB) whose mechanical parameters are adjustable is designed, tested and modeled. A finite element method (FEM) is carried out to model and optimize a full scale vibration isolation system for railway bridge based on MRB. According to the model above, we also consider the effect of different braking stop positions on the vibration isolation system and classify the bridge longitudinal vibration characteristics into several cases. Because the train-bridge vibration isolation system has multiple vibration states and strongly coupling with nonlinear characteristics, a human-simulated intelligent control (HSIC) algorithm for isolating the bridge vibration under the impact of train braking is proposed, in which the peak shear force of pier top, the displacement of beam and the acceleration of beam are chosen as control goals. The simulation of longitudinal vibration control system under the condition of train braking is achieved by MATLAB. The results indicate that different braking stop positions significantly affect the vibration isolation system and the structural response is the most drastic when the train stops at the third cross-span. With the proposed HSIC smart isolation system, the displacement of bridge beam and peak shear force of pier top is reduced by 53.8% and 34.4%, respectively. Moreover, the acceleration of bridge beam is effectively controlled within limited range.

  5. Model-based Sliding Mode Controller of Anti-lock Braking System

    Science.gov (United States)

    Zheng, Lin; Luo, Yue-Gang; Kang, Jing; Shi, Zhan-Qun

    2016-05-01

    The anti-lock braking system (ABS) used in automobiles is used to prevent wheel from lockup and to maintain the steering ability and stability. The sliding mode controller is able to control nonlinear system steadily. In this research, a one-wheel dynamic model with ABS control is built up using model-based method. Using the sliding model controller, the simulation results by using Matlab/Simulink show qualified data compared with optimal slip rate. By using this method, the ABS brake efficiency is improved efficiently.

  6. Fuzzy Control Strategy of Battery Management for PHEV during Regenerative Braking

    Directory of Open Access Journals (Sweden)

    Zhumu Fu

    2014-01-01

    Full Text Available Based on analyzing the structure of Parallel Hybrid Electric Vehicle (PHEV and its operation during regenerative braking, a fuzzy control strategy of battery management is proposed. Firstly, the state of charging is estimated by establishing the mathematical relationship between open circuit voltage and the internal resistance model. Secondly, the fuzzy logic controller is designed in regenerative braking system. Finally, by modeling and simulation in ADVISOR, it is shown that the rate of energy recovery with the fuzzy control strategy is increased by 12.3, 18.3 and 7.6%, respectively in three different driving cycles, compared with the benchmark control strategy in the same driving cycles.

  7. The Development of a Fuzzy Predictive Control System for Automotive Anti-lock Braking System

    Institute of Scientific and Technical Information of China (English)

    HUANGFU Shihui; BAO Xiangying

    2006-01-01

    This paper presents the model of one-tire kinetics、tires、the braking system and the model of control system. On virtual road, this paper builds a fuzzy predictive control system to insure the best attachment coefficient between tires and road. And it turns out to be that this fuzzy predictive control method has achieved good performances.

  8. Model-based fuzzy control solutions for a laboratory Antilock Braking System

    DEFF Research Database (Denmark)

    Precup, Radu-Emil; Spataru, Sergiu; Rǎdac, Mircea-Bogdan;

    2010-01-01

    This paper gives two original model-based fuzzy control solutions dedicated to the longitudinal slip control of Antilock Braking System laboratory equipment. The parallel distributed compensation leads to linear matrix inequalities which guarantee the global stability of the fuzzy control systems...

  9. 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.

  10. Extended-Kalman-filter-based regenerative and friction blended braking control for electric vehicle equipped with axle motor considering damping and elastic properties of electric powertrain

    Science.gov (United States)

    Lv, Chen; Zhang, Junzhi; Li, Yutong

    2014-11-01

    Because of the damping and elastic properties of an electrified powertrain, the regenerative brake of an electric vehicle (EV) is very different from a conventional friction brake with respect to the system dynamics. The flexibility of an electric drivetrain would have a negative effect on the blended brake control performance. In this study, models of the powertrain system of an electric car equipped with an axle motor are developed. Based on these models, the transfer characteristics of the motor torque in the driveline and its effect on blended braking control performance are analysed. To further enhance a vehicle's brake performance and energy efficiency, blended braking control algorithms with compensation for the powertrain flexibility are proposed using an extended Kalman filter. These algorithms are simulated under normal deceleration braking. The results show that the brake performance and blended braking control accuracy of the vehicle are significantly enhanced by the newly proposed algorithms.

  11. Control Reconfigurability of Bilinear Hydraulic Drive Systems

    DEFF Research Database (Denmark)

    Shaker, Hamid Reza; Tahavori, Maryamsadat

    2011-01-01

    be effective if sufficient redundancy does not exist in the process. A measure for control reconfigurability which reveals the level of redundancy in connection with feedback control is proposed in this paper for bilinear systems. The proposed control reconfigurability measure is the extension of its gramian......The objective of the methods within the framework of the plug and play process control and particularly fault tolerant control is to establish control techniques which guarantee a certain performance through control reconfiguration at the occurrence of the faults or changes. These methods cannot......-based analogous counterpart, which has been previously proposed for the linear processes. The control reconfigurability is calculated for the bilinear models of an electro-hydraulic drive to show its relevance to redundant actuating capabilities in the models....

  12. A new strategy for transient stability using augmented generator control and local dynamic braking

    Energy Technology Data Exchange (ETDEWEB)

    Dorsey, J.; Jiang, H.; Habetler, T. [Georgia Inst. of Tech., Atlanta, GA (United States); Qu, Z. [University of Central Florida, Orlando, FL (United States)

    1994-12-31

    A decentralized automatic control strategy for significantly improving the transient stability of a large power system is introduced. The strategy combines local dynamic braking and a straightforward augmentation of the existing turbine / governor control system that uses only local feedback. The brake resistor, which employs thick film, metal oxide technology, has no inductance and is of very low resistance, allowing its use during fault to show a generator`s acceleration. Simulation results using the 39 Bus New England system show that the strategy dramatically increases the global stability of a power system. (author) 15 refs., 7 figs., 1 tab.

  13. Energy-Regenerative Braking Control of Electric Vehicles Using Three-Phase Brushless Direct-Current Motors

    Directory of Open Access Journals (Sweden)

    Bo Long

    2013-12-01

    Full Text Available Regenerative braking provides an effective way of extending the driving range of battery powered electric vehicles (EVs. This paper analyzes the equivalent power circuit and operation principles of an EV using regenerative braking control technology. During the braking period, the switching sequence of the power converter is controlled to inverse the output torque of the three-phase brushless direct-current (DC motor, so that the braking energy can be returned to the battery. Compared with the presented methods, this technology can achieve several goals: energy recovery, electric braking, ultra-quiet braking and extending the driving range. Merits and drawbacks of different braking control strategy are further elaborated. State-space model of the EVs under energy-regenerative braking operation is established, considering that parameter variations are unavoidable due to temperature change, measured error, un-modeled dynamics, external disturbance and time-varying system parameters, a sliding mode robust controller (SMRC is designed and implemented. Phase current and DC-link voltage are selected as the state variables, respectively. The corresponding control law is also provided. The proposed control scheme is compared with a conventional proportional-integral (PI controller. A laboratory EV for experiment is setup to verify the proposed scheme. Experimental results show that the drive range of EVs can be improved about 17% using the proposed controller with energy-regeneration control.

  14. 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....... The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller...... 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...

  15. Optimal design method for force in vibration control of multi-body system with quick startup and brake

    Institute of Scientific and Technical Information of China (English)

    TANG Hua-ping; PENG Ya-qing

    2005-01-01

    A kind of active vibration control method was presented through optimal design of driving load of multi-body system with quick startup and brake. Dynamical equation of multi-body system with quick startup and brake was built, and mathematical model of representing vibration control was also set up according to the moving process from startup to brake. Then optimization vibration control model of system driving load was founded by applying theory of optimization control, which takes rigid body moving variable of braking moment as the known condition, and vibration control equation of multi-body system with quick startup and brake was converted into boundary value problem of differential equation. The transient control algorithm of vibration was put forward, which is the analysis basis for the further research. Theoretical analysis and calculation of numerical examples show that the optimal design method for the multi-body system driving load can decrease the vibration of system with duplication.

  16. 49 CFR 393.41 - Parking brake system.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 5 2010-10-01 2010-10-01 false Parking brake system. 393.41 Section 393.41... NECESSARY FOR SAFE OPERATION Brakes § 393.41 Parking brake system. (a) Hydraulic-braked vehicles...,536 kg (10,000 pounds) shall be equipped with a parking brake system as required by FMVSS No....

  17. Regenerative braking strategies, vehicle safety and stability control systems: critical use-case proposals

    Science.gov (United States)

    Oleksowicz, Selim A.; Burnham, Keith J.; Southgate, Adam; McCoy, Chris; Waite, Gary; Hardwick, Graham; Harrington, Cian; McMurran, Ross

    2013-05-01

    The sustainable development of vehicle propulsion systems that have mainly focused on reduction of fuel consumption (i.e. CO2 emission) has led, not only to the development of systems connected with combustion processes but also to legislation and testing procedures. In recent years, the low carbon policy has made hybrid vehicles and fully electric vehicles (H/EVs) popular. The main virtue of these propulsion systems is their ability to restore some of the expended energy from kinetic movement, e.g. the braking process. Consequently new research and testing methods for H/EVs are currently being developed. This especially concerns the critical 'use-cases' for functionality tests within dynamic events for both virtual simulations, as well as real-time road tests. The use-case for conventional vehicles for numerical simulations and road tests are well established. However, the wide variety of tests and their great number (close to a thousand) creates a need for selection, in the first place, and the creation of critical use-cases suitable for testing H/EVs in both virtual and real-world environments. It is known that a marginal improvement in the regenerative braking ratio can significantly improve the vehicle range and, therefore, the economic cost of its operation. In modern vehicles, vehicle dynamics control systems play the principal role in safety, comfort and economic operation. Unfortunately, however, the existing standard road test scenarios are insufficient for H/EVs. Sector knowledge suggests that there are currently no agreed tests scenarios to fully investigate the effects of brake blending between conventional and regenerative braking as well as the regenerative braking interaction with active driving safety systems (ADSS). The paper presents seven manoeuvres, which are considered to be suitable and highly informative for the development and examination of H/EVs with regenerative braking capability. The critical manoeuvres presented are considered to be

  18. Remote control canard missile with a free-rolling tail brake torque system

    Science.gov (United States)

    Blair, A. B., Jr.

    1981-01-01

    An experimental wind-tunnel investigation has been conducted at supersonic Mach numbers to determine the static aerodynamic characteristics of a cruciform canard-controlled missile with fixed and free-rolling tail-fin afterbodies. Mechanical coupling effects of the free-rolling tail afterbody were investigated using an electronic/electromagnetic brake system that provides arbitrary tail-fin brake torques with continuous measurements of tail-to-mainframe torque and tail-roll rate. Results are summarized to show the effects of fixed and free-rolling tail-fin afterbodies that include simulated measured bearing friction torques on the longitudinal and lateral-directional aerodynamic characteristics.

  19. Brake fault diagnosis using Clonal Selection Classification Algorithm (CSCA – A statistical learning approach

    Directory of Open Access Journals (Sweden)

    R. Jegadeeshwaran

    2015-03-01

    Full Text Available In automobile, brake system is an essential part responsible for control of the vehicle. Any failure in the brake system impacts the vehicle's motion. It will generate frequent catastrophic effects on the vehicle cum passenger's safety. Thus the brake system plays a vital role in an automobile and hence condition monitoring of the brake system is essential. Vibration based condition monitoring using machine learning techniques are gaining momentum. This study is one such attempt to perform the condition monitoring of a hydraulic brake system through vibration analysis. In this research, the performance of a Clonal Selection Classification Algorithm (CSCA for brake fault diagnosis has been reported. A hydraulic brake system test rig was fabricated. Under good and faulty conditions of a brake system, the vibration signals were acquired using a piezoelectric transducer. The statistical parameters were extracted from the vibration signal. The best feature set was identified for classification using attribute evaluator. The selected features were then classified using CSCA. The classification accuracy of such artificial intelligence technique has been compared with other machine learning approaches and discussed. The Clonal Selection Classification Algorithm performs better and gives the maximum classification accuracy (96% for the fault diagnosis of a hydraulic brake system.

  20. The Application of Hydraulic Braking-system for Light Proof Tire Vehicle%全液压制动系统在轻型防爆胶轮车上的应用

    Institute of Scientific and Technical Information of China (English)

    赵瑞萍

    2013-01-01

    介绍了轻型防爆胶轮车的制动系统,着重介绍了全液压制动系统的组成、特点,详细分析了全液压制动系统各元部件在设计过程中的选型,实践证明,全液压制动系统在轻型防爆胶轮车上的应用是可行及可靠的.%The braking systems in light type vehicle with the rubber wheeles are introduced, introduced the instructures and features of the hydraulic braking system, details how to select the parts in the design. Application shows that the application of hydraulic braking system in light type vehicle with the rubber wheeles is reasonable and reliable.

  1. Asymmetric Barrier Lyapunov Function-Based Wheel Slip Control for Antilock Braking System

    Directory of Open Access Journals (Sweden)

    Xiaolei Chen

    2015-01-01

    Full Text Available As an important device of the aircraft landing system, the antilock braking system (ABS has a function to avoid aircraft wheels self-locking. To deal with the strong nonlinear characteristics, complex nonlinear control schemes are applied in ABS. However, none of existing control schemes focus on the braking operating status, which directly reflects wheels self-locking degree. In this paper, the braking operating status region is divided into three regions: the healthy region, the light slip region, and the deep slip region. An ABLF-based wheel slip controller is proposed for ABS to constrain the braking system operating status in the healthy region and the light slip region. Therefore the ABS will be prevented from operating in the deep slip region. Under the proposed control scheme, self-locking is avoided completely and zero steady state error tracking of the wheel optimal slip ratio is implemented. The Hardware-In-Loop (HIL experiments have validated the effectiveness of the proposed controller.

  2. 14 CFR 25.735 - Brakes and braking systems.

    Science.gov (United States)

    2010-01-01

    ... (ii) Allow the pilot(s) to override the system by use of manual braking. (d) Parking brake. The airplane must have a parking brake control that, when selected on, will, without further attention, prevent... be indication in the cockpit when the parking brake is not fully released. (e) Antiskid system. If...

  3. Braking energy recuperation performance of input coupled power-split hydraulic hybrid powertrain%车辆分矩式混合动力系统储能特性

    Institute of Scientific and Technical Information of China (English)

    杜玖玉; 张洪辉; 王贺武

    2013-01-01

      为了提高采用分矩式液压机械传动商用车的燃油经济性,论证该系统应用混合动力驱动的可行性,该文研究分矩式混合动力系统制动能量回收条件和特性,基于功率分流分析法,在Matlab中建立流量分析模型,分析了调速范围内的分流工况、循环工况下的驱动功率流和制动功率流特性,并建立了制动能量回馈过程的转速、流量和转矩约束条件方程,得出了不同工况的制动能量回收特性。获得了不同工况条件下,可满足制动能量回收条件的液压元件相对变量率控制区间。为了验证理论分析结论,搭建了试验台,对分流工况和循环工况制动能量回收特性进行了试验台架验证。研究结果表明:分矩汇速式液压机械传动系统循环工况制动能量回收能力有限,分流工况高效制动能量回收效率较高,应用多段式方案制动能量回收潜力高约60%。研究结果可为制定合理的控制策略和评估系统的综合节油潜力提供参考。%  The fuel economy of the heavy-duty vehicles in China is relatively lower than that of advanced technologies in the world, and the fuel consumption of heavy duty commercial vehicles are very high, so energy-saving and advanced powertrain technologies for fleet users are urgently required, especially for the vehicles operating under city driving condition with heavy traffic jams. The power hybrid technologies are the paper, the regenerative braking condition was investigated. Whenυ π operating status is the power cycle condtion, and when condition, the hydraulic unit 1 and hydraulic unit 2 must be adusted by the rules of adjusted by the rules of best solution to improve the efficiency of heavy-duty commercial vehicles. Due to the benefit of high power density, hydraulic hybrid powertrains have more advantages than hybrid electric powertrains, especially under an urban duty cycle. Among all the

  4. Underwater hydraulic shock shovel control system

    Institute of Scientific and Technical Information of China (English)

    LIU He-ping; LUO A-ni; XIAO Hai-yan

    2008-01-01

    The control system determines the effectiveness of an underwater hydraulic shock shovel.This paper begins by analyzing the working principles of these shovels and explains the importance of their control systems.A new type of control system's mathematical model was built and analyzed according to those principles.Since the initial control system's response time could not fulfill the design requirements,a PID controller was added to the control system.System response time was still slower than required,so a neural network was added to nonlinearly regulate the proportional element,integral element and derivative element coefficients of the PID controller.After these improvements to the control system,system parameters fulfilled the design requirements.The working performance of electrically-controlled parts such as the rapidly moving high speed switch valve is largely determined by the control system. Normal control methods generally can't satisfy a shovel's requirements,so advanced and normal control methods were combined to improve the control system,bringing good results.

  5. Hydraulics.

    Science.gov (United States)

    Decker, Robert L.; Kirby, Klane

    This curriculum guide contains a course in hydraulics to train entry-level workers for automotive mechanics and other fields that utilize hydraulics. The module contains 14 instructional units that cover the following topics: (1) introduction to hydraulics; (2) fundamentals of hydraulics; (3) reservoirs; (4) lines, fittings, and couplers; (5)…

  6. [An automatic torque control system for a bicycle ergometer equipped with an eddy current brake].

    Science.gov (United States)

    Kikinev, V V

    2007-01-01

    The main elements of the loading device of a bicycle ergometer, including an eddy current brake and a torque sensor, are described. The automatic torque control system, which includes the loading device, is equipped with a stabilizing feedback controller that optimally approximates the closed-loop transfer function of the target model. The reduced transfer function model of the controller is of the fourth order. A method featuring a modulation-demodulation loop is suggested for implementation of the control system.

  7. Advance of Study on Design Methods of Hydraulic System of Radio Remote Control of Construction Machinery

    Institute of Scientific and Technical Information of China (English)

    FENG Kai-lin; YANG Wei-min; CHEN kang-ning

    2003-01-01

    The working principle of radio remote controlling of construction machinery should be that signals of the radio wave from the transmitter obtained in the receiver were controlled and then changed into electronic analog or digital signals which can be used to drive different actuators and mechanisms of the vehicle.The vehicle could be acted by following the controlling instructions sent by the operator.The best operation mode of construction machinery is suitable not only to manual operating but also to remote controlling in the same vehicle.The design methods of the hydraulic system used for the radio remote controlling of construction machinery are discussed.The design methods of hydraulic circuits for the actuators controlled by solenoid on-off type valves,hydro-electronic multi-way proportional valves,closed loop proportional servo driver or three-way proportional reducing valves are discussed in detail (with real example).The design methods of the power shift transmission of electro-hydraulic controlling,the devices of braking and the directional streering are discussed in this paper.

  8. HYDRAULIC CONCRETE COMPOSITION AND PROPERTIES CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    O. M. Pshinko

    2015-08-01

    Full Text Available Purpose. Scientific work aims at the development and testing of information system to meet the challenges of concrete composition design and control (for railway structures and buildings based on the physico-analytical method algorithm for hydraulic concrete composition calculation. Methodology. The proposed algorithm of hydraulic concrete composition calculation is based on the physicochemical mechanics and in particular on the rheology of elastic–viscous–plastic bodies. The system of canonical equations consists of the equations for concrete strength, absolute volume, concrete mix consistency as well as the equation for optimal concrete saturation with aggregates while minimizing cement content. The joint solution of these four equations related to composition allows determining for the materials the concrete composition of required strength, concrete workability with minimum cement content. The procedure for calculation of hydraulic concrete composition according to the physico-analytical method consists of two parts: 1 physical, which is laboratory testing of concrete mix components in different concrete compositions; 2 analytical, which represents the calculation algorithm for concrete compositions equivalent in concrete strength and workability that comply with the specific conditions of concrete placing. Findings. To solve the problem of designing the concrete composition with the desired properties for railway structures and buildings it was proposed to use the information technology in the form of a developed computer program whose algorithm includes the physico-analytical method for hydraulic concrete composition determination. Originality. The developed concrete composition design method takes into account the basic properties of raw materials, concrete mix and concrete, which are pre-determined. The distinctive feature of physico-analytical method is obtaining of a set of equivalent compositions with a certain concrete mix

  9. Design and Simulation of the Robust ABS and ESP Fuzzy Logic Controller on the Complex Braking Maneuvers

    Directory of Open Access Journals (Sweden)

    Andrei Aksjonov

    2016-11-01

    Full Text Available Automotive driving safety systems such as an anti-lock braking system (ABS and an electronic stability program (ESP assist drivers in controlling the vehicle to avoid road accidents. In this paper, ABS and the ESP, based on the fuzzy logic theory, are integrated for vehicle stability control in complex braking maneuvers. The proposed control algorithm is implemented for a sport utility vehicle (SUV and investigated for braking on different surfaces. The results obtained for the vehicle software simulator confirm the robustness of the developed control strategy for a variety of road profiles and surfaces.

  10. Fuzzy logic switching of thyristor controlled braking resistor considering coordination with SVC

    Energy Technology Data Exchange (ETDEWEB)

    Hiyama, T.; Mishiro, M.; Kihara, H. [Kumamoto Univ. (Japan). Dept. of Electrical Engineering and Computer Science; Ortmeyer, T.H. [Clarkson Univ., Potsdam, NY (United States). Dept. of Electrical and Computer Engineering

    1995-10-01

    This paper presents a new switching control scheme for braking resistors using a fuzzy logic to enhance overall stability of electric power systems. In addition, the coordination with an SVC is also considered to achieve a wider stable region. The braking resistor is set on one of the generator busbars, where the real power output from the generator is measured to determine the firing-angle of the thyristor switch. The switching control scheme is simple so as not to require heavy computation on the micro-computer based switching controller. An SVC is set on one of the busbars in the transmission system. The switching of the SVC is performed by using a similar fuzzy logic control scheme to the one for the BR. Simulation results show the effectiveness of the proposed fuzzy logic switching control scheme.

  11. Antiskid control of railway train braking based on adhesion creep behavior

    Science.gov (United States)

    Zuo, Jianyong; Chen, Zhongkai

    2012-05-01

    In modern trains wheelset skidding leads to the deterioration of braking behavior, the degradation of comfort, as well as a boost in system hazards. Because of the nonlinearity and unknown characteristics of wheelset adhesion, simplifications are widely adopted in the modeling process of conventional antiskid controllers. Therefore, conventional antiskid controllers usually cannot perform satisfactorily. In this paper, systematic computer simulation and field tests for railway antiskid control system are introduced. The operating principal of antiskid control system is explained, which is fundamental to the simulation of antiskid brakes, and the simulation model is introduced, which incorporates both the adhesion creep curve and a pneumatic submodel of antiskid control system. In addition, the characteristics of adhesion curves and the simulation target are also provided. Using DHSplus, the pneumatic submodel is created to analyze the performance of the different control strategies of antiskid valves. Then the system simulation is realized by combining the kinematical characteristics of railway trains and the pneumatic submodel. The simulation is performed iteratively to obtain the optimized design of the antiskid control system. The design result is incorporated in the hardware design of the antiskid control system and is evaluated in the field tests in Shanghai Subway Line 1. Judging by the antiskid efficiency, the antiskid braking performance observed in the field tests shows the superiority of the optimized design. Therefore, the proposed simulation method, especially in view of its ease of application, appears to be a useful one for designing railway antiskid control systems.

  12. Safety Braking System

    Directory of Open Access Journals (Sweden)

    Joseph Charles

    2016-10-01

    Full Text Available Now a day's accidents due to brake failure are increasing in a high margin, so safety has acquired a greater priority. In order to control this sudden brake failures we have modified the conventional braking systems in automobiles by adding an extra safety brake to the engine shaft. The idea of the work is to improve the safety parameters regarding the brakes. Engagement of the secondary brake without the assistance of driver is an advantage for this system. As it would make the vehicle to stop without any lag. A Hall effect sensor is used to detect the motion of wheel by noting the magnetic field. The signals given out from the sensor directs the microcontroller to operate the relay and hence to actuate the solenoid and thereby actuating the secondary brake.

  13. Singular perturbation approach for control of hydraulically driven flexible manipulator

    Institute of Scientific and Technical Information of China (English)

    LI Guang; WU Min

    2005-01-01

    The hydraulic flexible manipulator system is divided into two parts: flexible arm dynamics and hydraulic servomechanism, a driving Jacobian is derived to connect these two parts. Taking hydraulic actuator force as virtual input, a singular perturbed composite model is formulated and used to design composite controllers for the flexible link, in which the slow subsystem controller dominates the trajectory tracking, and then a fast controller is designed to damp out the vibration of the flexible structure. Moreover, the backstepping technique is applied to regulate the spool position of a hydraulic valve to provide the required force. Simulation results are provided to show the effectiveness of the presented approach.

  14. Modeling and Analysis on Braking Hydraulic System for LHD Based on Automation Studio%基于Automation Studio地下铲运机制动液压系统建模分析

    Institute of Scientific and Technical Information of China (English)

    张楠; 韩飞

    2016-01-01

    该文以CY-6型地下铲运机的重要单元之一制动液压系统为研究对象,该系统采用的是SAHR型制动器系统,其为全液压单回路式的制动形式,分析其工作原理,并对动作执行机构及所受载荷进行研究,在此基础之上,应用Automation Studio仿真分析软件搭建整机制动液压系统的仿真分析模型,对其动态工作过程进行仿真分析,获取了系统的充液过程和制动过程的性能曲线和相关参数,为实现该种车辆制动液压系统的优化设计获得理论参考和技术支撑,具有一定的工程应用价值。%In this paper, CY-6-type LHD braking hydraulic system as the research object, the system uses the SAHR type braking system, which is single-loop hydraulic braking system. Analyze the working principle of the system, and the action actuator and suffered payload. On this basis, the application of Automation Studio simulation software to build a model of braking hydraulic system. Simulation dynamic working process. And get the performance curve of filling process and the braking system and related parameters. To achieve optimal design this kind of vehicle hydraulic steering system to obtain a theoretical reference and technical support, with some engineering value.

  15. Modeling and Simulation of integrated steering and braking control for vehicle active safety system

    Directory of Open Access Journals (Sweden)

    Beibei Zhang

    2011-03-01

    Full Text Available Active chassis systems like braking, steering, suspension and propulsion systems are increasingly entering the market. In addition to their basic functions, these systems may be used for functions of integrated vehicle dynamics control. An experimental platform which aims to study the integration control of steering and braking is designed due to the research requirement of vehicle active safety control strategy in this paper. A test vehicle which is equipped with the systems of steer-by-wire and brake-bywire is provided and the Autobox, combined with Matlab/simulink and MSCCarsim, is used to fulfill the RCP (Rapid Control Prototyping and HIL (Hardware-in-loop. The seven-freedom vehicle model is constructed first and the approach of vehicle parameters estimation based on the Extended Kalman Filter (EKF is proposed. Testing the vehicle state through the sensor has its own disadvantage that the cost is high and easily affected by environment outside. To find a actual method of receiving the vehicle state using the ready-made sensors in vehicle, the researchers put forward various estimation method, of which have advantages and disadvantages. Based on the above, this paper applies the EKF to estimate the vehicle state, making the actual estimation come true. The primary control methods and controller designment is carried out to prove the validation of the platform.

  16. Design of Transputer Controllers for Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    The paper deals with how transputers can be applied for fast controllers for hydraulic actuator systems. A general transputer-based control systems including a data acquisition transputer subsystem is presented. An application case: development of a mechatronic test facility with a fast hydraulic...

  17. Hydraulic drive and control system of the cone collecting robot

    Institute of Scientific and Technical Information of China (English)

    Kong Qinghua; Liu Jinhao; Lu Huaimin

    1999-01-01

    This paper describes the basic structure and design and operation principle of the hydraulic drive and control system with two pumps and two circuits. The manipulator of the cone collecting robot designed is full driven by hydraulic, which has five freedoms. The computer and electrohydraulic proportion velocity regulating valve were installed to realize open loop serve control for reducing cost and easy application.

  18. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

    Science.gov (United States)

    Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

    2012-01-01

    This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

  19. Active vibration control of multibody system with quick startup and brake based on active damping

    Institute of Scientific and Technical Information of China (English)

    TANG Hua-ping; TANG Yun-jun; TAO Gong-an

    2006-01-01

    A kind of active vibration control method was presented based on active damping and optimization design for driving load of multibody system with quick startup and brake. Dynamical equation of multibody system with quick startup and brake and piezoelectric actuators intelligent structure was built. The optimum driving load was calculated by applying the presented method. The self-sensing and self-tuning closed-loop active vibration control in quick startup and brake process was realized. The control algorithm, using local velocity negative feedback, i.e. the output of a sensor only affects the output of the actuator collocated, can induce damping effectively to actively suppress the system vibration. Based on the optimization design for driving load of multibody system with quick startup and bake, the active damping of piezoelectric actuators intelligent structure was used to farther suppress the vibration of system. Theoretical analysis and calculation of numerical show that the proposed method makes the vibration of system decrease more than the optimal design method for driving load of multibody system.

  20. Analysis of torque transmitting behavior and wheel slip prevention control during regenerative braking for high speed EMU trains

    Science.gov (United States)

    Xu, Kun; Xu, Guo-Qing; Zheng, Chun-Hua

    2016-04-01

    The wheel-rail adhesion control for regenerative braking systems of high speed electric multiple unit trains is crucial to maintaining the stability, improving the adhesion utilization, and achieving deep energy recovery. There remain technical challenges mainly because of the nonlinear, uncertain, and varying features of wheel-rail contact conditions. This research analyzes the torque transmitting behavior during regenerative braking, and proposes a novel methodology to detect the wheel-rail adhesion stability. Then, applications to the wheel slip prevention during braking are investigated, and the optimal slip ratio control scheme is proposed, which is based on a novel optimal reference generation of the slip ratio and a robust sliding mode control. The proposed methodology achieves the optimal braking performance without the wheel-rail contact information. Numerical simulation results for uncertain slippery rails verify the effectiveness of the proposed methodology.

  1. Quiescence of magnetic braking and control of 3D non-resonance in KSTAR

    Science.gov (United States)

    Park, J.-K.; in, Y.; Jeon, Y. M.; Logan, N. C.; Wang, Z. R.; Menard, J. E.; Kim, J. H.; Ko, W. H.; Kstar Team

    2016-10-01

    Magnetic braking using non-axisymmetric (3D) field is a promising tool to control rotation in tokamaks and thereby micro-to-macro instabilities. Ideally magnetic braking should induce only neoclassical momentum transport, without provoking resonant instabilities or unnecessary perturbations in particle or heat transport. Indeed in KSTAR, it was shown that the 3 rows of internal coils could be used to generate highly non-resonant n =1 with backward-helicity field distribution, called -90 phasing, and to change rotation without any perturbations to other transport channels. Recent KSTAR experiments, however, have also shown that the broad-wavelength field distribution, called 0 phasing, is rather more quiescent whereas -90 phasing can be highly degrading especially in high q95 plasmas. IPEC and NTV modeling are consistent with both observations, and further provide the optimal point in coil phasing and amplitude space. Additional experiments and comparisons with modeling all imply the sensitivity of plasma response to remnant resonant field, and thus importance of non-resonance control, to accomplish quiescent magnetic braking. This work was supported by DOE Contract DE-AC02-09CH11466.

  2. Study of Hydraulic Regenerative Braking System in Electrical Vehicle%基于CPS的新型电动汽车液压再生制动能量回收系统研究

    Institute of Scientific and Technical Information of China (English)

    周翎霄

    2015-01-01

    In order to improve efficiency of recovering braking energy in electrical vehicle, a constant pressure hydraulic regenerative braking system with flywheel has been designed after comparing several hydraulic regenerative braking schemes. Then the joint braking and CEC-15 driving condition simulation based are processed. The results of simulation indicate positive correlation between displacement of pump/motor and efficiency of energy recovering under a certain value of displacement and driving range of electrical has been prolonged by 24%.%针对纯电动汽车能量利用率低的问题,提出对电动汽车进行制动能量回收,通过比较多种液压制动能量回收方案与储能方式,认为定压源飞轮液压再生制动系统较合理,且对该系统分别进行汽车联合制动工况和城市循环工况仿真,分析系统制动能量回收利用率和节能效果,仿真结果显示,泵/马达排量在一定范围内,制动能量回收效率与排量大小呈正相关,续驶里程能提高24%左右。

  3. Stable and optimal fuzzy control of a laboratory Antilock Braking System

    DEFF Research Database (Denmark)

    Precup, Radu-Emil; Spataru, Sergiu; Petriu, Emil M.

    2010-01-01

    This paper discusse four new Takagi-Sugeno fuzzy controllers (T-S FCs) for the longitudinal slip control of an Antilock Braking System laboratory equipment. Two discretetime dynamic Takagi-Sugeno fuzzy models of the controlled plant are derived based on the parameters in the consequents...... conditions to the fuzzy control systems (FCSs) and the other two T-S FCs are tuned by the linear-quadratic regulator approach applied to each rule. Linear matrix inequalities are solved to guarantee the global stability of the FCSs. Real-time experimental results validate the original T-S FCs and design...

  4. COMPUTATIONAL FLOW RATE FEEDBACK AND CONTROL METHOD IN HYDRAULIC ELEVATORS

    Institute of Scientific and Technical Information of China (English)

    Xu Bing; Ma Jien; Lin Jianjie

    2005-01-01

    The computational flow rate feedback and control method, which can be used in proportional valve controlled hydraulic elevators, is discussed and analyzed. In a hydraulic elevator with this method, microprocessor receives pressure information from the pressure transducers and computes the flow rate through the proportional valve based on pressure-flow conversion real time algorithm. This hydraulic elevator is of lower cost and energy consumption than the conventional closed loop control hydraulic elevator whose flow rate is measured by a flow meter. Experiments are carried out on a test rig which could simulate the load of hydraulic elevator. According to the experiment results, the means to modify the pressure-flow conversion algorithm are pointed out.

  5. 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.

  6. Robust control of a hydraulically driven flexible arm

    Institute of Scientific and Technical Information of China (English)

    Guang LI; Khajepour AMIR

    2004-01-01

    A new robust controller is proposed to regulate both flexural vibrations and rigid body motion of a hydraulically driven flexible arm. The controller combines backstepping control and sliding mode to arrive at a controller capable of dealing with a nonlinear system with uncertainties. The sliding mode technique is used to achieve an asymptotic joint angle and vibration regulation in the presence of payload uncertainty by providing a virtual torque input at the joint while the backstepping technique is used to regulate the spool position of a hydraulic valve to provide the required torque. It is shown that there is no chatter in the hydraulic valve, which results in smoother operation of the system.

  7. Brake Performance Simulation and Test Analysis of Hydraulic Hybrid Bus%液压混合动力公交车制动性能仿真与试验分析

    Institute of Scientific and Technical Information of China (English)

    曲金玉; 李训明; 任传波; 韩尔樑; 刘林

    2014-01-01

    In consideration of city buses operating characteristics and poor fuel economy in urban driving cycles, we present a novel hydraulic hybrid system, and build three models, i.e. brake energy recovery dynamic model, energy regeneration dynamic model and diesel hydraulic start model, and then make brake performance simulation. Finally we test performance of the system by bench and road test. The results show that the hydraulic hybrid bus is capable of braking energy recovery, braking energy recovery rate in typical urban driving cycle is up to 69.7 % and energy regeneration rate is 32.8%, hydraulic engine start time is 1.7 second.%针对城市公交车运行特点和在城市运行工况下燃油经济性差的问题,提出一种新型液压混合动力系统,并建立制动回收过程动力学模型、能量再生过程动力学模型和柴油机液压起动模型等,对其制动性能进行仿真,最后进行了样机台架、实车道路试验。试验结果表明,该液压混合动力公交车可实现汽车制动能量回收等功能,在典型城市循环工况下制动能量回收率为69.7%,制动能量再生率为32.8%,液压起动发动机时间为1.7 s。

  8. KGS Based Control for Parking Brake Cable Manufacturing System

    OpenAIRE

    Geeta Khare; R.S. Prasad

    2011-01-01

    In today’s competitive production environment, process industries, demand a totally integrated control and optimization solution that can increase productivity, reliability and quality while minimizing cost. Automation is a step beyond mechanization. For automation of production plant either centralized or distributed control system are used. There are standardized approaches and standard hardware & software available worldwide as per the requirement. Investment in process control system is a...

  9. Flatness-based model inverse for feed-forward braking control

    Science.gov (United States)

    de Vries, Edwin; Fehn, Achim; Rixen, Daniel

    2010-12-01

    For modern cars an increasing number of driver assistance systems have been developed. Some of these systems interfere/assist with the braking of a car. Here, a brake actuation algorithm for each individual wheel that can respond to both driver inputs and artificial vehicle deceleration set points is developed. The algorithm consists of a feed-forward control that ensures, within the modelled system plant, the optimal behaviour of the vehicle. For the quarter-car model with LuGre-tyre behavioural model, an inverse model can be derived using v x as the 'flat output', that is, the input for the inverse model. A number of time derivatives of the flat output are required to calculate the model input, brake torque. Polynomial trajectory planning provides the needed time derivatives of the deceleration request. The transition time of the planning can be adjusted to meet actuator constraints. It is shown that the output of the trajectory planning would ripple and introduce a time delay when a gradual continuous increase of deceleration is requested by the driver. Derivative filters are then considered: the Bessel filter provides the best symmetry in its step response. A filter of same order and with negative real-poles is also used, exhibiting no overshoot nor ringing. For these reasons, the 'real-poles' filter would be preferred over the Bessel filter. The half-car model can be used to predict the change in normal load on the front and rear axle due to the pitching of the vehicle. The anticipated dynamic variation of the wheel load can be included in the inverse model, even though it is based on a quarter-car. Brake force distribution proportional to normal load is established. It provides more natural and simpler equations than a fixed force ratio strategy.

  10. Hardware simulation of automatic braking system based on fuzzy logic control

    Directory of Open Access Journals (Sweden)

    Noor Cholis Basjaruddin

    2016-07-01

    Full Text Available In certain situations, a moving or stationary object can be a barrier for a vehicle. People and vehicles crossing could potentially get hit by a vehicle. Objects around roads as sidewalks, road separator, power poles, and railroad gates are also a potential source of danger when the driver is inattentive in driving the vehicle. A device that can help the driver to brake automatically is known as Automatic Braking System (ABS. ABS is a part of the Advanced Driver Assistance Systems (ADAS, which is a device designed to assist the driver in driving the process. This device was developed to reduce human error that is a major cause of traffic accidents. This paper presents the design of ABS based on fuzzy logic which is simulated in hardware by using a remote control car. The inputs of fuzzy logic are the speed and distance of the object in front of the vehicle, while the output of fuzzy logic is the intensity of braking. The test results on the three variations of speed: slow-speed, medium-speed, and high-speed shows that the design of ABS can work according to design.

  11. Study on the dynamic characteristics of a high frequency brake based on giant magnetostrictive material

    Science.gov (United States)

    Xu, Ai Qun

    2016-06-01

    In order to meet the requirements of rapid and smooth braking, high-frequency braking using a giant magnetostrictive actuator is proposed, which can solve the problems in hydraulic braking, such as, it leaks easily, catches fire easily, is difficult to find failures, high cost on maintenance and repairing, etc. The main factors affecting the force of a high-frequency braking actuator are emphatically analyzed, the brakes dynamic model is established and a performance testing device for high frequency braking is constructed based on LabVIEW. The output force of the actuator increases with the excitation current of the driving coil increasing, and the increased multiple of the output force is greater than that of the excitation current; the range of the actuator force amplitude is 121.63 N ∼ 158.14 N, which changes little, while excitation frequency changes between 200 Hz ∼ 1000 Hz. In a minor range of pre-stress, the output force decreases with an increase in the axial pre-stress of the giant magnetostrictive rod, but is not obvious. It is known by finite element simulation analysis that high-frequency braking shortens the braking displacement and time effectively, which proves the feasibility and effectiveness of high frequency braking. Theoretical analysis and experimental results indicate that the output force of the actuator changes at the same frequency with excitation current; it is controllable and its mechanical properties meet the requirements of high frequency braking.

  12. Control allocation for for regenerative braking of electric vehicles with an electric motor at the front axle using the state-dependent Riccati equation control technique

    NARCIS (Netherlands)

    Kanarachos, S.A.; Alirezaei, M.; Jansen, S.T.H.; Maurice, J.P.

    2014-01-01

    In this paper the systematic development of an integrated braking controller for a vehicle driven by an electric motor on the front axle is presented. The objective is to engage the electric motor only during braking, up to the point at which the vehicle reaches its manoeuvrability and stability lim

  13. Motion Planning Based Coordinated Control for Hydraulic Excavators

    Institute of Scientific and Technical Information of China (English)

    GAO Yingjie; JIN Yanchao; ZHANG Qin

    2009-01-01

    Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydranlic proportional valves coordinately. Therefore,the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems.This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfaetorily accomplish the auto-digging function for level digging or flat surface finishing.

  14. Investigation of Control Model in a New Series Hybrid Hydraulic/Electric System for Heavy Vehicles Based on Energy Efficiency

    Directory of Open Access Journals (Sweden)

    Soroosh Mahmoodi

    2016-01-01

    Full Text Available An interesting model which was able to recuperate and reuse braking energy was investigated. It was named series hybrid hydraulic/electric system (SHHES. The innovated model was presented for heavy hybrid vehicles to overcome the existing drawbacks of single energy storage sources. The novelty of this paper was investigation of a new series hybrid vehicle with triple sources, combustion engine, electric motor, and hydraulic sources. It was simulated with MATLAB-Simulink and different operational mode of control system was investigated. The aim was to improve the efficiency of the energy-loading components in the power train system and the transmission system independently. The ability to store and reuse the kinetic energy was added to the system to prevent energy wasting while the vehicle was braking. Control models were also investigated to realize suitable control algorithms to offer the best efficiency in system components for different vehicle conditions. The torque control strategy based on fuzzy logic controller was proposed to achieve better vehicle performance while the fuel consumption was minimized. The results implied efficient storage and usage in the transmission system. A small vehicle model experimentally verified the simulation results.

  15. Metro Vehicle Braking Control and Longitudinal Impact%地铁车辆制动控制与纵向冲击

    Institute of Scientific and Technical Information of China (English)

    王超

    2015-01-01

    主要介绍了地铁车辆的两个评价指标:稳定性和舒适度。列车纵向冲动是列车运行质量的关键影响因素,分析了列车减速度和纵向冲击率对于稳定性和舒适度的影响。研究地铁列车制动减速度与列车冲击率之间的关系,提出了针对地铁制动系统空气制动和复合制动的制动控制方法,通过优化制动控制策略提高了稳定性和舒适度。%This paper introduces two evaluation indexes of metro vehicles which mainly refer to stability and comfort.The longitudinal impact of train is a key influencing factor.This paper analyses the effect of train deceleration rate and longitudinal impact on the stabili-ty and comfort,studies the relationship between braking deceleration rate and impact for the metro vehicles and then proposes the bra-king controlling method of air braking and composite braking for metro braking system.The optimization of braking control is able to improve the stability and comfort.

  16. Controlled Source Electromagnetic Monitoring of Hydraulic Fracturing

    Science.gov (United States)

    Couchman, M. J.; Everett, M. E.

    2016-12-01

    Controlled Source Electromagnetics (CSEM) have been used as a direct hydrocarbon indicator since the 1960s, with a resurgence in marine conventional settings in the new millennium, with many studies revolving around detecting a thin resistive layer such as a reservoir at 1m-3km depth. The presence of the resistive layer is characterized by a jump in electric field amplitude recorded at the boundary between the layer and the host sediments. Here the lessons learned from these studies are applied to terrestrial unconventional settings. However, unlike in marine settings where resistive hydrocarbon-charged fluids comprise a conventional reservoir, on land we are interested in electrically conductive injected fluids. The work shown here is a means to develop further methods to enable more reliable terrestrial CSEM monitoring of the flow of injected fluids associated with hydraulic fracturing of unconventional reservoirs and to detect subsurface fluids based on their CSEM signature and in turn, to infer the subsurface flow of electrically conductive injected fluids. Overall this project attempts to create more efficient fracturing, by determining fluid pathways, hence making projects more cost effective by reducing the cost of extraction. The predictive model developed focuses on the mapping of fluid flow in from a horizontal pipe in a uniform halfspace using a long in-line Horizontal Electric Dipole (HED) with electric field amplitude recorded by an array of electric field sensors. The code provided has been edited to include a long-dipole source in addition to the half dipole source originally in place in order to align with current CSEM field practices. The well casing has also been included due to its large effect on CSEM response.

  17. Fuzzy control method of regenerative braking in electric vehicles considering parameter sensitivity%考虑参数灵敏度的电动汽车回馈制动模糊控制

    Institute of Scientific and Technical Information of China (English)

    刘志强; 汪浩磊; 杜荣华

    2016-01-01

    The influence factors on braking energy feedback in electric vehicles were analyzed. To recycle more energy, a braking force distribution model was established, and a fuzzy controller on braking force distribution was designed, in which the inputs parameters were vehicle speed, braking strength and battery SOC, and output parameter was regenerative braking ratio. The sensitivity analysis of SOC, braking strength and vehicle speed was conducted by adopting a perturbation method, in which energy recovery rate was taken as the evaluation index. The results show that SOC has the greatest impact on energy recovery ratio, and braking strength has the second impact. So the fuzzy rules for the electronic-hydraulic-compound braking force distribution are improved in accordance with the influence weight of each characteristic parameter to the evaluation index. The recovery ratio of regenerative braking energy can be increased effectively by using fuzzy control method, in which the sensitivities of the characteristic parameters are considered.%分析影响电动汽车制动能量回馈的主要因素;以制动能量最大化为目标,建立电液复合制动力分配模型,设计以电液复合制动特性参数蓄电池荷电状态(SOC)、制动强度、车速为输入,回馈制动比例为输出的制动力模糊分配规则。同时,以能量回收率为评价指标对SOC、制动强度及车速进行灵敏度分析。研究结果明:SOC对能量回收率的影响最大,制动强度对能量回收率的影响次之;根据各特性参数对评价指标的影响权重,可改进电液复合制动力分配模糊规则;在相同制动工况下,考虑参数灵敏度的电动汽车电液复合回馈制动模糊控制方法可有效提高制动能量回收率。

  18. Multiple-Vehicle Longitudinal Collision Mitigation by Coordinated Brake Control

    Directory of Open Access Journals (Sweden)

    Xiao-Yun Lu

    2014-01-01

    Full Text Available Rear-end collision often leads to serious casualties and traffic congestion. The consequences are even worse for multiple-vehicle collision. Many previous works focused on collision warning and avoidance strategies of two consecutive vehicles based on onboard sensor detection only. This paper proposes a centralized control strategy for multiple vehicles to minimize the impact of multiple-vehicle collision based on vehicle-to-vehicle communication technique. The system is defined as a coupled group of vehicles with wireless communication capability and short following distances. The safety relationship can be represented as lower bound limit on deceleration of the first vehicle and upper bound on maximum deceleration of the last vehicle. The objective is to determine the desired deceleration for each vehicle such that the total impact energy is minimized at each time step. The impact energy is defined as the relative kinetic energy between a consecutive pair of vehicles (approaching only. Model predictive control (MPC framework is used to formulate the problem to be constrained quadratic programming. Simulations show its effectiveness on collision mitigation. The developed algorithm has the potential to be used for progressive market penetration of connected vehicles in practice.

  19. 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...... system were constructed and linearized. Controllers are implemented and tested on the manipulator. Pressure feedback was found to greatly improve system stability margins. Passive gain feedforward shows improved tracking performance for small changes in load pressure. For large changes in load pressure......, active gain feedforward shows a slightly improved performance. Computed-Torque Control shows better performance, but requires a well described system for best performance. A novel Adaptive Inverse Dynamics Controller was tested and the performance was found to be similar to that of Computed...

  20. Is CD69 an effective brake to control inflammatory diseases?

    Science.gov (United States)

    González-Amaro, Roberto; Cortés, Jose R.; Sánchez-Madrid, Francisco; Martín, Pilar

    2014-01-01

    Early studies described CD69 as a leukocyte activation marker, and suggested its involvement in the activation of different leukocyte subsets as well as in the pathogenesis of chronic inflammation. However, recent investigations have showed that CD69 knockout mice exhibit an enhanced susceptibility to different inflammatory diseases, mainly those mediated by Th17 lymphocytes. The recent discovery of a ligand for CD69 expressed on Dendritic cells, Galectin-1, has confirmed the immunoregulatory role of CD69 mainly by the inhibition of Th17 differentiation and function in mice and humans. In this regard, the expression of CD69, both in Th17 lymphocytes and by a subset of regulatory T cells, has an important role in the control of the immune response and the inflammatory phenomenon. Therefore, different evidences indicate that CD69 exerts a complex immuno-regulatory role in humans, and that it could be considered as target molecule for the therapy of immune-mediated diseases. PMID:23954168

  1. Advanced Emergency Braking Control Based on a Nonlinear Model Predictive Algorithm for Intelligent Vehicles

    Directory of Open Access Journals (Sweden)

    Ronghui Zhang

    2017-05-01

    Full Text Available Focusing on safety, comfort and with an overall aim of the comprehensive improvement of a vision-based intelligent vehicle, a novel Advanced Emergency Braking System (AEBS is proposed based on Nonlinear Model Predictive Algorithm. Considering the nonlinearities of vehicle dynamics, a vision-based longitudinal vehicle dynamics model is established. On account of the nonlinear coupling characteristics of the driver, surroundings, and vehicle itself, a hierarchical control structure is proposed to decouple and coordinate the system. To avoid or reduce the collision risk between the intelligent vehicle and collision objects, a coordinated cost function of tracking safety, comfort, and fuel economy is formulated. Based on the terminal constraints of stable tracking, a multi-objective optimization controller is proposed using the theory of non-linear model predictive control. To quickly and precisely track control target in a finite time, an electronic brake controller for AEBS is designed based on the Nonsingular Fast Terminal Sliding Mode (NFTSM control theory. To validate the performance and advantages of the proposed algorithm, simulations are implemented. According to the simulation results, the proposed algorithm has better integrated performance in reducing the collision risk and improving the driving comfort and fuel economy of the smart car compared with the existing single AEBS.

  2. Precision Force Control for an Electro-Hydraulic Press Machine

    Directory of Open Access Journals (Sweden)

    Hong-Ming Chen

    2014-08-01

    Full Text Available This thesis is primarily intended to design a PC-based control system to control the force of an electro-hydraulic servo press system for implementing precision force control. The main feature is to develop a composite control by using the relief valve and the flow servo valve. Using feedback from a force sensor, a fuzzy controller was designed with LabVIEW software as the system control core for achieving a precision force control for the hydraulic cylinder on its travel and output. The weakness of hydraulic systems is that hydraulic oil is compressible and prone to leaking, and its characteristics can vary with oil temperature, thus making it difficult for a general linear controller to achieve accurate control. Therefore, a fuzzy controller was designed with LabVIEW along with a NI-PCI_6221 interface card and a load cell to control the servo valve flow and the relief valve to control the pressure source. The testing results indicate that accurate force control output of an electro-hydraulic servo press system can be obtained.

  3. Adaptive Non-linear Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

  4. 基于最佳制动效果的并联式混合动力汽车再生制动控制策略%Regenerative Braking Control Strategy for PHEV Based on Optimal Braking Effect

    Institute of Scientific and Technical Information of China (English)

    高爱云; 邓效忠; 张明柱; 付主木

    2015-01-01

    Based on the principles of the braking force distribution,a regenerative braking control strategy was proposed on the basis of the optimal braking effect and fuzzy control,where mechanical braking could cooperate with regenerative braking and front and rear wheel braking force were distribG uted reasonably.Taking the braking strength and the state of charge of batteries as inputs,and reG garding the expected regenerative braking force as an output,a fuzzy controller was designed.The control strategy designed was simulated from parts performance,braking energy recovery and braking sense compared with the default control strategy in ADVISOR.At the same time,the hardwareintheloop simulation was developed to prove the simulation results in ADVISOR effective.The results show that the control strategy presented can assure the driver of satisfactory braking sense based on the braking stability,and improve energy efficiency at the same time and at last achieve optimal braG king effect.%在遵循制动力分配原则的基础上,提出了基于最佳制动效果和模糊控制的再生制动控制策略,使机械制动和再生制动可以很好地协同工作,实现前后轮制动力合理分配。设计了以制动强度和蓄电池荷电状态为输入变量,以期望再生制动力为输出变量的模糊控制器。利用仿真软件 ADVISOR,对所设计的控制策略进行了部件性能、制动能量回收、制动感觉三方面仿真分析。同时,为验证ADVISOR仿真结果的有效性,搭建了硬件在环仿真实验平台。结果表明,所设计的控制策略在保证汽车制动稳定性的前提下,能够使驾驶员获得满意的制动感觉,同时有效提高了汽车能量利用率,最终达到了最佳制动效果。

  5. A minimum-time based fuzzy logic dynamic braking resistor control for sub-synchronous resonance

    Energy Technology Data Exchange (ETDEWEB)

    Rahim, A.H.M.A. [University of Petroleum and Minerals, Dhahran (Saudi Arabia). Dept. of Electrical Engineering

    2004-03-01

    Dynamically switched resistor banks connected to the generator transformer bus are known to improve transient stability of the power system. In this article, a braking resistor control strategy designed through fuzzy logic control theory has been proposed to damp the slowly growing sub-synchronous resonant (SSR) frequency oscillations of a power system. The proposed control has been tested on the IEEE second benchmark model for SSR studies. A fuzzy logic controller designed through a classical minimum-time strategy was compared with a general fuzzy strategy employing generator speed variation and acceleration as input to the controller. It was observed that the proposed minimum-time based fuzzy controller provides better damping control; and it is computationally very efficient. (author)

  6. Variable frequency inverter for ac induction motors with torque, speed and braking control

    Science.gov (United States)

    Nola, F. J. (Inventor)

    1975-01-01

    A variable frequency inverter was designed for driving an ac induction motor which varies the frequency and voltage to the motor windings in response to varying torque requirements for the motor so that the applied voltage amplitude and frequency are of optimal value for any motor load and speed requirement. The slip frequency of the motor is caused to vary proportionally to the torque and feedback is provided so that the most efficient operating voltage is applied to the motor. Winding current surge is limited and a controlled negative slip causes motor braking and return of load energy to a dc power source.

  7. 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...... 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 is on applying simple nonlinear robust and adaptive controllers feasible for implementation...... in industrial servo drives. The different controllers are compared and evaluated from simulation and experimental results....

  8. Intelligent Control of a Novel Hydraulic Forging Manipulator

    Directory of Open Access Journals (Sweden)

    J. Wang

    2011-01-01

    Full Text Available The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications.

  9. Control strategy for electro-mechanical braking based on curves of ECE regulations and ideal braking force%基于ECE法规和Ⅰ曲线的机电复合制动控制策略

    Institute of Scientific and Technical Information of China (English)

    刘丽君; 姬芬竹; 杨世春; 徐斌

    2013-01-01

    具有再生制动功能的电动汽车制动系统与传统燃油汽车的摩擦制动系统不同,在回收部分制动能量的同时其制动稳定性会发生变化.在保证安全制动距离的前提下,制动能量回收率的提高受到制动稳定性的制约和限制.针对电制动和常规摩擦制动组成的机电复合制动系统,建立了电制动力、电制动力矩和电池充电功率计算模型.考虑到电机转矩特性和电池充电功率限制,以最大化回收制动能量为目标,设计3种不同的机电复合制动控制策略.通过在ADVISOR软件中建立嵌入式仿真模块对制动能量回收率、电池荷电状态和纯电动模式的续驶里程进行了仿真计算和分析.计算结果表明:Ⅰ曲线和ECE(Economic Commissionof Europe safety regulations)法规边界线都不是理想的制动力分配曲线,所提出的制动力分配曲线OABCD综合性能较好,制动能量回收率达到59.56%,且一个循环的荷电状态变化很小,仅降低了4.29%.实车试验表明能量回收能够提高续驶里程.%The braking system of electric vehicle with regenerative braking is different from friction braking system of conventional fuel vehicle. Regenerative braking system makes braking stability of electric vehicles change when it recovers braking energy of vehicles. The improvement of braking energy recovery ration was restricted by the braking stability under the precondition of safe braking distance. Aiming at the electromechanical hybrid braking system composed of electric braking and conventional friction braking, the calculation models of electric braking force, electric braking torque and battery charging power were established. In view of the motor torque characteristics and battery charging power limit, three kinds of control strategies for e-lectro-mechanical hybrid braking were designed for recovering the maximal braking energy. The baking energy recovery ration, state of charge and driving range in

  10. Modeling and controlling of a flexible hydraulic manipulator

    Institute of Scientific and Technical Information of China (English)

    LI Guang; WU Min

    2005-01-01

    A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the nonlinear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy.

  11. Quantized pressure control in large-scale nonlinear hydraulic networks

    NARCIS (Netherlands)

    Persis, Claudio De; Kallesøe, Carsten Skovmose; Jensen, Tom Nørgaard

    2010-01-01

    It was shown previously that semi-global practical pressure regulation at designated points of a large-scale nonlinear hydraulic network is guaranteed by distributed proportional controllers. For a correct implementation of the control laws, each controller, which is located at these designated poin

  12. Hydraulic engine valve actuation system including independent feedback control

    Science.gov (United States)

    Marriott, Craig D

    2013-06-04

    A hydraulic valve actuation assembly may include a housing, a piston, a supply control valve, a closing control valve, and an opening control valve. The housing may define a first fluid chamber, a second fluid chamber, and a third fluid chamber. The piston may be axially secured to an engine valve and located within the first, second and third fluid chambers. The supply control valve may control a hydraulic fluid supply to the piston. The closing control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the second fluid chamber to the supply control valve. The opening control valve may be located between the supply control valve and the second fluid chamber and may control fluid flow from the supply control valve to the second fluid chamber.

  13. Design of PI Controllers for Hydraulic Control Systems

    Directory of Open Access Journals (Sweden)

    LJubiša Dubonjić

    2013-01-01

    Full Text Available The paper proposes a procedure for design of PI controllers for hydraulic systems with long transmission lines which are described by models of high order. Design is based on the combination of the IE criterion and engineering specifications (settling time and relative stability as well as on the application of D-decomposition. In comparison with some known results, the method is of graphical character, and it is very simple (solving nonlinear algebraic equations is eliminated. The paper presents the algorithm of software procedure for design of the controller. The method is compared with other methods at the level of simulation, and its superiority is shown. By applying the Nyquist criterion, it is shown that the method possesses robustness in relation to non modelled dynamics.

  14. Simulasi Dinamika untuk Menentukan Stabilitas Sistem Tenaga Listrik Menggunakan Thyristor Controlled Braking Resistor pada Sistem IEEE 34 Node Test Feeder

    Directory of Open Access Journals (Sweden)

    Andi Taufiq

    2012-09-01

    Full Text Available Terdapat berbagai macam metode untuk meningkatkan stabilitas sistem  tenaga listrik. Salah satunya adalah dengan menggunakan metode pengereman dinamis (dynamic braking. Generator sinkron sebagai distributed generator yang digerakkan oleh mesin diesel. Pada saat terjadi gangguan pada sistem, digunakan sebuah Thyristor Controlled Braking Resistor (TCBR untuk meredam osilasi yang terjadi. Sistem yang hendak dianalisis dinamika dan stabilitasnnya adalah IEEE 34 node test feeder. Dengan sistem ini diilustrasikan karakteristik dan keefektifan TCBR untuk meredam osilasi frekuensi rendah dan mencegah terjadinya ketidakstabilan transien sistem. Dari hasil analisis diperoleh bahwa dengan adanya penambahan TCBR (Thyristor Controlled Braking Resistor maka respon transien sistem akan menjadi lebih baik. Hal ini ditunjukkan dengan adanya penurunan overshoot dan settling timenya. Dengan demikian sistem akan menuju kondisi stabil dengan lebih cepat setelah terjadi gangguan.

  15. 液压蓄能式车辆制动能量回收系统的AMESim仿真研究%Simulation Study of Hydraulic Regenerative Braking Energy System of Vehicles by AMESim

    Institute of Scientific and Technical Information of China (English)

    刘天豪; 刘海朝; 祝昌洪

    2011-01-01

    The simulation model of hydraulic recovery braking energy system was built using AMESim. The energy loss and the factors affecting the braking performance were simulated. The simulation results show that in the braking process, energy loss made by vehicle resistance accounts for 16% of the total vehicle kinetic energy which is the main aspect of energy loss; the method to improve the efficiency of energy recovery is to increase the accumulator pre-charge pressure or to decrease the volume of accumulator; there is little influence on the energy recovery efficiency when changing the hydraulic pump/motor displacement, but it has a significant impact on the vehicle's starting and braking time.%建立车辆液压蓄能式制动能量回收装置的AMESim仿真模型,对其工作过程中的能量损耗情况和制动性能的影响因素进行仿真研究.仿真结果表明:能量回收制动过程中,由于车辆行驶阻力造成的损失占车辆总动能的16%,是能量损失的主要方面;提高能量回收效率的办法是提高蓄能器预充气压力或减小蓄能器体积;改变液压泵/马达排量对提高能量回收效率的影响不大,但可显著影响车辆的起动和制动时间.

  16. 一体式电液复合制动系统轮缸压力的精细调节%Wheel cylinder pressure fine regulation for integrated electro-hydraulic brake system

    Institute of Scientific and Technical Information of China (English)

    刘杨; 孙泽昌; 邹小琼; 王猛

    2015-01-01

    Wheel cylinder pressure fine regulation was studied for electro‐hydraulic brake system with an integrated master cylinder .Pressure regulation process and system structural characteristics were analyzed .The impact of brake disc gap on pressure regulation was studied ,pressure control dividing point of non‐linear and linear region was determined ,using the ladder method and interpolation table method to estimate cylinder pressure ,also the impact of w heel cylinder piston hysteresis characteris‐tics on linear region was considered ,and then the segmented‐ladder‐lookup fine regulation strategy was developed .Hardware in the loop simulation bench was built using xPC target to verify the pres‐sure regulation performance by sine target pressure test and comparisons of single increase‐decrease interpolation table strategy and the proposed one .Test results show that the wheel cylinder pressure could keep up with the target curve ,and the proposed system structure and pressure regulation meth‐od could meet the pressure control requirements .%针对基于一体式主缸的电液复合制动系统,进行了轮缸压力的精细调节研究,分析了一体式复合制动系统轮缸压力调节过程及其结构特点。探讨了制动间隙对盘式制动器轮缸压力调节的影响,确定了轮缸压力控制的非线性区及线性区,采用阶梯估算和基本插值数表的方法对轮缸压力进行估计,并考虑了线性区轮缸活塞运动迟滞特性对插值数表的影响,综合上述因素制定了分段阶梯查表的轮缸压力精细调节策略。采用xPC target搭建了硬件在环仿真台架,进行了正弦曲线跟随和与单一增/减压数表法的对比试验。试验结果表明:轮缸压力能够实时跟随目标曲线变化,所提出的结构及控制方法能够满足轮缸压力精细调节的控制需求。

  17. Composite braking control strategy of pure electric bus based on brake driving intention recognition%基于制动驾驶意图辨识的纯电动客车复合制动控制策略

    Institute of Scientific and Technical Information of China (English)

    赵轩; 马建; 汪贵平

    2014-01-01

    To research braking force distribution ratio of composite braking system for pure electric bus,a composite braking control strategy based on brake driving intention recognition was presented.A double-layer brake driving intention recognition model based on hidden Markov theory was set up and identified by using road experiment data.Based on recognized driving intention and vehicle speed,the distribution ratios of braking forces for front and rear wheels, ECE regulation, motor characteristics, slip ratios, battery characteristics, super capacitor characteristics and transmission system characteristics were taken as constraint conditions,the braking force distribution strategy of composite braking system was proposed,and the control strategy of composite braking system was simulated by Simulink software under 9 operating conditions.Simulation result shows that friction braking system and motor regenerative braking system can work coordinately and steadily under various operating conditions when the braking control strategy is applied,and braking energy can be recovered as much as possible under the premise of ensuring braking safety.Energy recovery efficiency is highest under slight brake when vehicle speed was low,and the efficiency can reach to 43 .84%.Energy recovery efficiency is lowest under emergency brake when vehicle speed is high,and the efficiency is only 0. 89%. 2 tabs,21 figs,23 refs.%为了研究纯电动客车复合制动系统制动力分配比例,提出了基于制动驾驶意图辨识的复合制动控制策略。基于隐形马尔科夫理论建立了双层制动驾驶意图辨识模型,运用道路试验数据对模型进行辨识验证。基于辨识出的驾驶意图和车速,以前后轮制动力分配比例、ECE 法规、电机特性、滑移率、蓄电池特性、超级电容特性与传动系统特性为约束条件,制定了复合制动系统制动力分配策略,在9种工况下,应用Simulink对复合制动系统进行建

  18. Nonlinear control for a class of hydraulic servo system

    Institute of Scientific and Technical Information of China (English)

    余宏; 冯正进; 王旭永

    2004-01-01

    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.

  19. Nonlinear control for a class of hydraulic servo system

    Institute of Scientific and Technical Information of China (English)

    余宏; 冯正进; 王旭永

    2004-01-01

    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.

  20. Simulation and control of an electro-hydraulic actuated clutch

    Science.gov (United States)

    Balau, Andreea-Elena; Caruntu, Constantin-Florin; Lazar, Corneliu

    2011-08-01

    The basic function of any type of automotive transmission is to transfer the engine torque to the vehicle with the desired ratio smoothly and efficiently and the most common control devices inside the transmission are clutches and hydraulic pistons. The automatic control of the clutch engagement plays a crucial role in Automatic Manual Transmission (AMT) vehicles, being seen as an increasingly important enabling technology for the automotive industry. It has a major role in automatic gear shifting and traction control for improved safety, drivability and comfort and, at the same time, for fuel economy. In this paper, a model for a wet clutch actuated by an electro-hydraulic valve used by Volkswagen for automatic transmissions is presented. Starting from the developed model, a simulator was implemented in Matlab/Simulink and the model was validated against data obtained from a test-bench provided by Continental Automotive Romania, which includes the Volkswagen wet clutch actuated by the electro-hydraulic valve. Then, a predictive control strategy is applied to the model of the electro-hydraulic actuated clutch with the aims of controlling the clutch piston displacement and decreasing the influence of the network-induced delays on the control performances. The simulation results obtained with the proposed method are compared with the ones obtained with different networked controllers and it is shown that the strategy proposed in this paper can indeed improve the performances of the control system.

  1. Design of Energy Recovery Strategy and Simulation Analysis of Rotary Drill Hydraulic Braking System%牙轮钻机静液压制动系统仿真分析及能量回收方案设计

    Institute of Scientific and Technical Information of China (English)

    齐九龙; 张志壮; 赵静一; 王智勇; 唱荣蕾

    2016-01-01

    Hydraulic braking is used on rotary drill, to avoid the impact on the pump caused by the system pressure fluctuations is necessary, and the kinetic or potential energy can be recycled for use of the rotary drill when braking.Through the calculation and simulation analysis of the hydraulic braking system, the pressure relief valve of parameters of the closed pump was adjusted, and the system pressure impact was reduced.Energy recovery strategy of the braking system was proposed, and the mathematical model was es-tablished and the energy recovery system was simulation analyzed.The relationship of the pressure increasing of the accumulator gas chamber along with time was obtained, and the relationship between the size of the throttle opening and the braking time was revealed. The efficiency of energy recovery braking system was calculated.The correctness of the using of hydraulic braking system on rotary drill and the feasibility of energy recovery strategy are verified.Energy recovery is implemented which tranforms the kinetic or potential ener-gy of the rotary drill to pressure energy of the accumulator, and a reference for energy recovery braking system on large vehicle is pro-vided.%牙轮钻机采用静液压制动,需要避免系统压力波动对泵产生的冲击,同时钻机的动能或者势能可以回收再利用。通过对静液压制动系统的计算与仿真分析,对闭式泵高压溢流阀参数进行调整,减小系统压力冲击;提出了制动系统能量回收方案,并对能量回收系统进行了数学建模与仿真分析,获得了蓄能器气腔压力随时间的增长关系,揭示了节流阀开度大小与制动时间的关系;对制动系统能量回收效率进行了计算。证明了牙轮钻机采用静液压制动系统的正确性以及能量回收方案的可行性,实现了将钻机动能或者势能转换为蓄能器压力能的能量回收,为大型车辆制动系统能量回收提供了参考。

  2. Gravity brake

    Science.gov (United States)

    Lujan, Richard E.

    2001-01-01

    A mechanical gravity brake that prevents hoisted loads within a shaft from free-falling when a loss of hoisting force occurs. A loss of hoist lifting force may occur in a number of situations, for example if a hoist cable were to break, the brakes were to fail on a winch, or the hoist mechanism itself were to fail. Under normal hoisting conditions, the gravity brake of the invention is subject to an upward lifting force from the hoist and a downward pulling force from a suspended load. If the lifting force should suddenly cease, the loss of differential forces on the gravity brake in free-fall is translated to extend a set of brakes against the walls of the shaft to stop the free fall descent of the gravity brake and attached load.

  3. Research on intelligent algorithm of electro - hydraulic servo control system

    Science.gov (United States)

    Wang, Yannian; Zhao, Yuhui; Liu, Chengtao

    2017-09-01

    In order to adapt the nonlinear characteristics of the electro-hydraulic servo control system and the influence of complex interference in the industrial field, using a fuzzy PID switching learning algorithm is proposed and a fuzzy PID switching learning controller is designed and applied in the electro-hydraulic servo controller. The designed controller not only combines the advantages of the fuzzy control and PID control, but also introduces the learning algorithm into the switching function, which makes the learning of the three parameters in the switching function can avoid the instability of the system during the switching between the fuzzy control and PID control algorithms. It also makes the switch between these two control algorithm more smoother than that of the conventional fuzzy PID.

  4. 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 towa...

  5. STATISTIC LINEARIZATION CONTROL FOR HYDRAULIC ACTIVE DAMPING SUSPENSION

    Institute of Scientific and Technical Information of China (English)

    Wang Qingfeng; Zhao Ju; Yang Botao

    2000-01-01

    A statistic linearization analysis method of bad nolinear hydraulic active damping suspensiop is provided.Also the optimum control strategy of semi-active suspension and graded control strategy based on it are puted forward.Experimental researches are carried out on a 2 DOF (degree of freedom ) hydraulic active damping suspension test system.The results showed that an excellent control effectiveness could be obtained by using statistic linearization optimum control which unfortunely requests continuously regulationg the damp in an accurate way and costs much in engeering application.On the contrary,the results also showed that graded control is more practicable which has a control effectiveness close to the optimum control and costs less.

  6. Microcomputer Control of a Hydraulic Power Element.

    Science.gov (United States)

    1986-12-01

    Electrohydraulic (EHD) Servovalves .................... 9 3. Advantages of EHD Servovalves .......................................... 10 4. Control System Types ................................. 10...positional control with less error. [Ref. 3:pp. 1-21 4. Control System Types Control systems are the means by which servovalves can be used to obtain a

  7. Analysis and control of flows in pressurized hydraulic networks

    NARCIS (Netherlands)

    Gupta, R.K.

    2006-01-01

    Analysis, design and flow control problems in pressurized hydraulic networks such as water transmission and distribution systems consisting of pipes and other appurtenant components such as reservoirs, pumps, valves and surge devices are dealt with from the prospective of network synthesis aiming at

  8. Analysis and control of flows in pressurized hydraulic networks

    NARCIS (Netherlands)

    Gupta, R.K.

    2006-01-01

    Analysis, design and flow control problems in pressurized hydraulic networks such as water transmission and distribution systems consisting of pipes and other appurtenant components such as reservoirs, pumps, valves and surge devices are dealt with from the prospective of network synthesis aiming at

  9. Hydraulically controlled flexible arm can bend in any direction

    Science.gov (United States)

    Griffin, F. D.

    1966-01-01

    Arm assembly consisting of four flexible tubes controlled by a four-way hydraulic or pneumatic valve can bend in any direction. The flexible arm could be used for probing areas that cannot be reached by ordinary tools, handling hazardous materials, and for graph recording.

  10. Intelligent PI Fuzzy Control of An Electro-Hydraulic Manipulator

    Directory of Open Access Journals (Sweden)

    Ayman A. Aly

    2012-06-01

    Full Text Available The development of a fuzzy-logic controller for a class of industrial hydraulic manipulator is described. The main element of the controller is a PI-type fuzzy control technique which utilizes a simple set of membership functions and rules to meet the basic control requirements of such robots. Using the triangle shaped membership function, the position of the servocylinder was successfully controlled. When the system parameter is altered, the control algorithm is shown to be robust and more faster compared to the traditional PID controller. The robustness and tracking ability of the controller were demonstrated through simulations.

  11. Control Reconfigurability of Bilinear Hydraulic Drive Systems

    DEFF Research Database (Denmark)

    Shaker, Hamid Reza; Tahavori, Maryamsadat

    2011-01-01

    be effective if sufficient redundancy does not exist in the process. A measure for control reconfigurability which reveals the level of redundancy in connection with feedback control is proposed in this paper for bilinear systems. The proposed control reconfigurability measure is the extension of its gramian...

  12. Servo Controlled Variable Pressure Modification to Space Shuttle Hydraulic Pump

    Science.gov (United States)

    Kouns, H. H.

    1983-01-01

    Engineering drawings show modifications made to the constant pressure control of the model AP27V-7 hydraulic pump to an electrically controlled variable pressure setting compensator. A hanger position indicator was included for continuously monitoring hanger angle. A simplex servo driver was furnished for controlling the pressure setting servovalve. Calibration of the rotary variable displacement transducer is described as well as pump performance and response characteristics.

  13. 49 CFR 571.106 - Standard No. 106; Brake hoses.

    Science.gov (United States)

    2010-10-01

    .... Preformed means a brake hose that is manufactured with permanent bends and is shaped to fit a specific vehicle without further bending. Rupture means any failure that results in separation of a brake hose from... hydraulic brake hose assembly shall not rupture when run continuously on a flexing machine for 35 hours (S6...

  14. Modeling, Optimization & Control of Hydraulic Networks

    DEFF Research Database (Denmark)

    Tahavori, Maryamsadat

    2014-01-01

    to check if the network is controllable. Afterward the pressure control problem in water supply systems is formulated as an optimal control problem. The goal is to minimize the power consumption in pumps and also to regulate the pressure drop at the end-users to a desired value. The formulated optimal...... in water network is pressure management. By reducing the pressure in the water network, the leakage can be reduced significantly. Also it reduces the amount of energy consumption in water networks. The primary purpose of this work is to develop control algorithms for pressure control in water supply...... systems. To have better understanding of water leakage, to control pressure and leakage effectively and for optimal design of water supply system, suitable modeling is an important prerequisite. Therefore a model with the main objective of pressure control and consequently leakage reduction is presented...

  15. ROBUST CONTROL OF AN ELECTRO-HYDRAULIC PROPORTIONAL SPEED CONTROL SYSTEM WITH A SINGLE-ROD HYDRAULIC ACTUATOR

    Institute of Scientific and Technical Information of China (English)

    Yang Jian; Xu Bing; Yang Huayong

    2005-01-01

    A robust control algorithm is proposed to focus on the non-linearity and parameters'uncertainties of an electro-hydraulic proportional speed control system (EHPSCS) with a single-rod hydraulic actuator. The robust controller proposed does not need to design stable compensator in advance, is simple in design and has large scope of uncertainty applications. The feedback gains of the robust controller proposed are small, so it is easily implemented in engineering applications.Experimental research on the speed control under the different conditions is carried out for an EHPSCS. Experimental results show that the robust controller proposed has better robustness subject to parametric uncertainties, and adaptability of parameters' variation of control system itself and plant parameter variation.

  16. 纯电动汽车电液复合制动系统联合仿真%Co-simulation Study of Electro-hydraulic Compound Brake System of Electric Vehicle

    Institute of Scientific and Technical Information of China (English)

    王晖; 陈燎; 盘朝奉

    2014-01-01

    The study described the braking energy recovery system principle and structure. And then, according to the stroke simulator,high-pressure accumulator and hydraulic principles were established AMEsim based model,simulink-based vehicle dynamics model to establish a vehicle,motor,super capacitors and DC / DC converter models. The joint simulation of AMEsim-Simulink model was estab-lished based on all the above established model. In the vehicle initial condition of 36 km/ h,the brake pedal force size 30 N(small strength brake),50 N(small and medium strength brake)was simula-ted,and the simulation results were analyzed. In city conditions(low intensity brake),brake energy recovery rate was about 40% ,and the results showed the recovery effect is better.%介绍了制动能量回收系统的原理和结构,然后根据行程模拟器、高压蓄能器和液压泵的原理分别建立了以上部件基于 AMEsim 的模型,并应用 Simulink 建立了车辆整车动力学模型和电机、超级电容、DC / DC 变换器模型。以此为基础建立了 AMEsim-Simulink 联合仿真模型。在车辆初始行驶速度为36 km/ h 的工况下,分别选取制动踏板力为30 N(小强度制动)和50 N (中小强度制动)进行仿真,并对仿真结果进行了分析。结果表明:在城市工况下(小强度制动),制动能量回收率在40%左右,回收效果较好。

  17. Magnetostrictive Brake

    Science.gov (United States)

    Diftler, Myron A.; Hulse, Aaron

    2010-01-01

    A magnetostrictive brake has been designed as a more energy-efficient alternative to a magnetic fail-safe brake in a robot. (In the specific application, failsafe signifies that the brake is normally engaged; that is, power must be supplied to allow free rotation.) The magnetic failsafe brake must be supplied with about 8 W of electric power to initiate and maintain disengagement. In contrast, the magnetostrictive brake, which would have about the same dimensions and the same torque rating as those of the magnetic fail-safe brake, would demand only about 2 W of power for disengagement. The brake (see figure) would include a stationary base plate and a hub mounted on the base plate. Two solenoid assemblies would be mounted in diametrically opposed recesses in the hub. The cores of the solenoids would be made of the magnetostrictive alloy Terfenol-D or equivalent. The rotating part of the brake would be a ring-and spring- disk subassembly. By means of leaf springs not shown in the figure, this subassembly would be coupled with the shaft that the brake is meant to restrain. With no power supplied to the solenoids, a permanent magnet would pull axially on a stepped disk and on a shelf in the hub, causing the ring to be squeezed axially between the stepped disk and the hub. The friction associated with this axial squeeze would effect the braking action. Supplying electric power to the solenoids would cause the magnetostrictive cylinders to push radially inward against a set of wedges that would be in axial contact with the stepped disk. The wedges would convert the radial magnetostrictive strain to a multiplied axial displacement of the stepped disk. This axial displacement would be just large enough to lift the stepped disk, against the permanent magnetic force, out of contact with the ring. The ring would then be free to turn because it would no longer be squeezed axially between the stepped disk and the hub.

  18. Development of passive-controlled HUB (teetered brake & damper mechanism) of horizontal axis wind turbine

    Energy Technology Data Exchange (ETDEWEB)

    Shimizu, Yukimaru; Kamada, Yasunari; Maeda, Takao [Mie Univ. (Japan)

    1997-12-31

    For the purpose of the improvement of reliability of the Mega-Watt wind turbine, this paper indicates the development of an original mechanism for the passive-controlled hub, which has the effects of braking and damping on aerodynamic forces. This mechanism is useful for variable speed control of the large wind turbine. The passive-controlled hub is the combination of two mechanisms. One is the passive-teetered and damping mechanism, and the other is the passive-variable-pitch mechanism. These mechanism are carried out by the combination of the teetering and feathering motions. When the wind speed exceeds the rated wind speed, the blade is passively teetered in a downwind direction and, simultaneously, a feathering mechanism, which is linked to the teetering mechanism through a connecting rods, is activated. Testing of the model horizontal axis wind turbine in a wind tunnel showed that the passive-controlled hub mechanism can suppress the over-rotational speed of the rotor. By the application of the passive-controlled hub mechanism, the maximum rotor speed is reduced to about 60%.

  19. 49 CFR 571.121 - Standard No. 121; Air brake systems.

    Science.gov (United States)

    2010-10-01

    ... compressed air or vacuum only to assist the driver in applying muscular force to hydraulic or mechanical... transmission of response or control signals in the vehicle's antilock brake system. The indicator lamp shall...) S5.1.6.3Antilock power circuit for towed vehicles. Each truck tractor manufactured on or after...

  20. Adaptive Brake By Wire: From Human Factors to Adaptive Implementation

    OpenAIRE

    Spadoni, Andrea

    2013-01-01

    The introduction of the Brake By Wire is replacing the traditional mechanical control systems with ECUs and it is raising the need to reproduce feelings of eliminated static mechanical components (i.e. hydraulic fluids, pumps and cylinders). Thanks to electromechanical actuators and human-machine interfaces (i.e. active pedal) it is possible to reproduce such feelings and, therefore, arbitrarily change their features. In this way it will be possible to customize the pedal feelings and the veh...

  1. Research on hydraulic slotting technology controlling coal-gas outbursts

    Institute of Scientific and Technical Information of China (English)

    WEI Guo-ying; SHAN Zhi-yong; ZHANG Zi-min

    2008-01-01

    Measured to control serious coal-gas outburst in coal seam were analyzed by theory and experimented in test site. A new technique to distress the coal-bed and drain methane, called hydraulic slotting, was described in detail, and the mechanism of hydrau-lic slotting was put forward and analyzed. The characteristic parameter of hydraulic slotting was given in Jiaozuo mining area and the characteristic of validity, adaptability and secu-rity was evaluated. The results show that the stress surrounding the strata and the gas in coal seam is released efficiently and thoroughly while new techniques are taken, as slot-ting at heading face by high pressure large diameter jet. The resistance to coal and gas outbursts is increased dramatically once the area of slotting is increased to a certain size.In the process of driving 2 000 m tunnel by hydraulic slotting excavation, coal and gas outburst never occurre. The technique could be used to prevent and control potential coal-gas outburst in the proceeding of tunnel driving, and the speed tunneling could be as high as more than 2 times.

  2. International Space Station power module thermal control system hydraulic performance

    Energy Technology Data Exchange (ETDEWEB)

    Goldberg, V. [Boeing North American, Inc., Canoga Park, CA (United States). Rocketdyne Div.

    1997-12-31

    The International Space Station (ISS) uses four photovoltaic power modules (PVMs) to provide electric power for the US On-Orbit Segment. The PVMs consist of photovoltaic arrays (PVAs), orbit replaceable units (ORUs), photovoltaic radiators (PVRs), and a thermal control system (TCS). The PVM TCS function is to maintain selected PVM components within their specified operating ranges. The TCS consists of the pump flow control subassembly (PFCS), piping system, including serpentine tubing for individual component heat exchangers, headers/manifolds, fluid disconnect couplings (FQDCs), and radiator (PVR). This paper describes the major design requirements for the TCS and the results of the system hydraulic performance predictions in regard to these requirements and system component sizing. The system performance assessments were conducted using the PVM TCS fluid network hydraulic model developed for predicting system/component pressure losses and flow distribution. Hardy-Cross method of iteration was used to model the fluid network configuration. Assessments of the system hydraulic performance were conducted based on an evaluation of uncertainties associated with the manufacturing and design tolerances. Based on results of the analysis, it was concluded that all design requirements regarding system performance could be met. The hydraulic performance range, enveloping possible system operating parameter variations was determined.

  3. Control of Braking Noise of A Car Disc Brake%某型轿车盘式制动器制动噪声的控制

    Institute of Scientific and Technical Information of China (English)

    戢何民

    2011-01-01

    Bench test is made to a car diac brake, it is found in this test that braking noise frequency mainly occurs at 3 kHz. With FEA, vibration characteristic analysis is made to brake disc, brake caliper case, caliper bracket and friction pad. Test results indicate that 7-order vibration mode of brake caliper bracket is a major contributor of -braking noise. Structure of brake caliper bracket is modified, and bench test is made to the disc brake with the modified caliper bracket. The results show that cold state braking noise is reduced from 100.5 dB to 73.4 dB, meeting the requirement of noise limit of this vehicle.%对某型轿车盘式制动器进行了台架试验,发现该制动器主要制动噪声频率在3 kHz附近.采用有限元FEA分析手段对制动盘、制动钳壳体、制动钳支架和摩擦片进行了振动特性分析.结果表明,制动钳支架的7阶振动模态是导致制动噪声产生的原因之一.对制动钳支架结构设计进行了改进,并对装有改进后制动钳支架的盘式制动器进行了台架试验.结果表明,制动器冷态制动噪声从100.5 dB下降为73.4 dB,达到了该车型对制动器噪声的限值要求.

  4. Hydraulic Control Design and Modeling Techniques.

    Science.gov (United States)

    1989-02-01

    methodologies. This report may be difficult to read for the casual reader . It is written assuming the reader has some fundamental background in control...INTERVAL DTSMP=.O0012207 STEP=. 0012207 INDEX=INDEX+i DOUT( INDEX2)=L1 A- 4 END $*OF DISCRETE SAMP 2" DERIVATIVE tarot (INDEX2 .GE. 4098) END $*OF

  5. Controlling a negative loaded hydraulic cylinder using pressure feedback

    DEFF Research Database (Denmark)

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

    2010-01-01

    the high pass filtered pressure gradient equal tozero is introduced. It yields lead compensation with a markedly improved performance. The sizing of the filter is described taking into account the bandwidth of the directional control valve. The suggested control scheme is implemented and examined......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...... showing that without extra measures such a system will be unstable in a substantial part of the cylinder stroke. The stability criterion is expressed in hard quantities: Cylinder volumes, cylinder area ratio and overcenter valve pilot area ratio. A pressure feed back scheme that has as target to maintain...

  6. Design And Implementation of Dsp-Based Intelligent Controller For Automobile Braking System

    Directory of Open Access Journals (Sweden)

    S.N. Sidek and M.J.E. Salami

    2012-08-01

    Full Text Available An intelligent braking system has great potential applications especially, in developed countries where research on smart vehicle and intelligent highways are receiving ample attention. The system when integrated with other subsystems like automatic traction control, intelligent throttle, and auto cruise systems, etc will result in smart vehicle maneuver. The driver at the end of the day will become the passenger, safety accorded the highest priority and the journey optimized in term of time duration, cost, efficiency and comfortability. The impact of such design and development will cater for the need of contemporary society that aspires to a quality drive as well as to accommodate the advancement of technology especially in the area of smart sensors and actuators.  The emergence of digital signal processor enhances the capacity and features of universal microcontroller.  This paper introduces the use of TI DSP, TMS320LF2407 as an engine of the system. The overall system is designed so that the value of inter-vehicle distance from infrared laser sensor and speed of follower car from speedometer are fed into the DSP for processing, resulting in the DSP issuing commands to the actuator to function appropriately.Key words:  Smart Vehicle, Digital Signal Processor, Fuzzy Controller, and Infra Red Laser Sensor

  7. TRANSIENT RESPONSE OF A VALVE CONTROL HYDRAULIC SYSTEM WITHLONG PIPES

    Institute of Scientific and Technical Information of China (English)

    Wei Jianhua; Kong Xiaowu; Qiu Minxiu; Wu Genmao

    2004-01-01

    The simulation model of a valve control hydraulic system with long pipe is established in Simulink4.0, and then the step responses of the systems with difference pipe parameters are investigated by simulation.Simulation results show that the long pipes will slow down the step response of system and make it fluctuate periodically.The results of simulation conform to the results of experiment on the whole, which proves the mathematic model is correct.

  8. 燃料电池汽车线控串行复合制动系统的开发%Development of BBW Series Hybrid Brake System for FCV

    Institute of Scientific and Technical Information of China (English)

    刘清河; 刘涛; 孙泽昌

    2011-01-01

    A brake-by-wire (BBW) hydraulic brake valve with mechanical backup is developed and its control performance is tested and analyzed. Based on BBW, a series hybrid brake system for a fuel-cell vehicle is built with corresponding control algorithm for electro-hydraulic braking designed. A hardware-in-the-loop simulation on series hybrid braking process is conducted. The results show that the system achieves the series application of motor regenerative braking and hydraulic friction braking, effectively enhancing braking energy recovery rate.%开发了具备机械备份的线控液压制动阀并对其控制性能进行了试验和分析.以线控制动系统为基础,建立了燃料电池汽车线控串行复合制动系统,并设计了与之相适应的电液复合制动控制算法.对串行复合制动过程进行了硬件在环仿真.结果表明,该系统实现了电机再生制动与液压摩擦制动的串行施加,有效提高了制动能量回收率.

  9. 动车组电空制动协调控制优化研究%Research on Optimization of Electro-pneumatic Braking Cooperative Control for EMU

    Institute of Scientific and Technical Information of China (English)

    朱琴跃; 包世炯; 谭喜堂; 王东响

    2013-01-01

    分析现有动车组电空制动控制系统中的制动力分配策略,针对动车与拖车电空制动力施加不均的问题,提出一种电空制动协调控制优化策略。采用动车电制动优先的控制原则,并根据载重反比分配拖车与动车所需施加的空气制动力。以 CRH2型动车组中一动一拖为基本单元,利用Matlab/Simulink软件对列车在不同制动工况进行仿真,结果表明,基于载重反比分配制动力的电空制动协调优化控制策略可有效提高列车制动效率,减小动车与拖车的车轮踏面磨损。%On analysis of the braking force distribution strategy in existing Electric Multiple Unit(EMU) electro-pneumatic braking control system, an optimization strategy of electro-pneumatic braking cooperative control is proposed, which aims at solving the imbalance problem of the motor car and trailer car’s electro-pneumatic braking. It uses electro-pneumatic braking priority control principle in EMU, and distributes air braking force of motor car and trailer car in inverse ratio on the basic of load. By modeling the EMU electro-pneumatic cooperative braking control and braking force distribution optimized algorithm while taking one motor car and one trailer car in CRH2 EMU as the basic unit, the Matlab/Simulink software is used to simulate different braking condition. The results indicate that the electro-pneumatic cooperative braking control optimization strategy which based on the load inverse-proportion for braking force distribution has the significant effect on improving brake efficiency, reducing wheel tread wear of the motor car and the trailer car.

  10. Energy Management and Control of Electric Vehicles, Using Hybrid Power Source in Regenerative Braking Operation

    Directory of Open Access Journals (Sweden)

    Bo Long

    2014-07-01

    Full Text Available Today’s battery powered electric vehicles still face many issues: (1 Ways of improving the regenerative braking energy; (2 how to maximally extend the driving-range of electric vehicles (EVs and prolong the service life of batteries; (3 how to satisfy the energy requirements of the EVs both in steady and dynamic state. The electrochemical double-layer capacitors, also called ultra-capacitors (UCs, have the merits of high energy density and instantaneous power output capability, and are usually combined with power battery packs to form a hybrid power supply system (HPSS. The power circuit topology of the HPSS has been illustrated in this paper. In the proposed HPSS, all the UCs are in series, which may cause an imbalanced voltage distribution of each unit, moreover, the energy allocation between the batteries and UCs should also be considered. An energy-management scheme to solve this problem has been presented. Moreover, due to the parameter variations caused by temperature changes and produced errors, the modelling procedure of the HPSS becomes very difficult, so an H∞ current controller is presented. The proposed hybrid power source circuit is implemented on a laboratory hardware setup using a digital signal processor (DSP. Simulation and experimental results have been put forward to demonstrate the feasibility and validity of the approach.

  11. Utilization of a hardware-in-the-loop-system for controlling the speed of an eddy current brake

    Science.gov (United States)

    Kramer, V.; Mishra, R.; Brauneis, P.; Schmidt, K.

    2012-05-01

    Rapid prototyping with a hardware-in-the-loop (HiL) system significantly reduces the development time for controller-type testing and is widely used in various fields of engineering. In this discussion, a controller is developed for a speed control application utilizing a magnetic brake. A mathematical model is presented first that has been implemented in Matlab/ Simulink. The controller development steps are described that will form the basis of a control system for a wind turbine. A test is carried out that simulates the wind turbine inertial load.

  12. The design of brake fatigue testing system

    Directory of Open Access Journals (Sweden)

    Huang, Xiaoya

    2015-01-01

    Full Text Available Brake is used to reduce the operating speed of the machinery equipment or to make it stop. It is essential for vehicles, climbing machines and many fixed equipment in their safety work. Brake tester is an experimental apparatus to measure and analyse the braking performance. Based on the PLC technology and for the purpose of testing brake shoe friction material’s life, this paper designed a virtual brake test platform. In it, inverter were used to control the motor, so that it can load automatically and ensure brake drum constant speed output; what is more, closed loop control system were used to control the brake shoe, so that the cylinder pressure keeps stable in the process of dynamic braking.

  13. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.; Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States); Basher, A.M.H. [South Carolina State Univ., Orangeburg, SC (United States)

    1996-09-01

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  14. 轮边电机制动器及其设计计算%Wheel-side motor brake and design calculation

    Institute of Scientific and Technical Information of China (English)

    张学艳; 张文明; 金纯; 罗维东

    2012-01-01

    The structure principle and characteristics of a new kind of wheel-side motor brake installed on the motor shaft is introduced,which integrates service brake,parking brake and emergency brake, and simplifies the structure and the hydraulic brake control circuit.The braking force of this brake is supplied by the compression springs and relieved by hydraulic oiLTherefore,the brake can be still effective even if the engine or the hydraulic piping fails.Through calculating the maximum braking force,traditional design for the compression spring is implemented, and optimized by matlab with the length of spring as the optimization objective.The result shows the optimization is obvious and the energy storage capacity of the brake is improved significantly.%介绍了一种新型的轮边电机制动器的结构原理及特点,该制动器布置在电动机轴上,集行车制动、驻车制动和紧急制动于一体,大大简化了制动器结构和液压控制回路.该制动器由压缩弹簧提供制动力,由液压油解除制动,因此在发动机失效及液压管路故障的情况下仍能安全制动.通过计算制动时制动器需要提供的最大制动力对压缩弹簧进行了传统设计计算,并用Matlab优化工具箱以制动时弹簧的长度为优化目标进行了优化,优化效果明显,显著提高了制动器的储能能力.

  15. 车辆制动能量回收领域中液压技术的应用研究论述%Discussion on the Application of Hydraulic Technology in the Field of Vehicle Braking Energy Recovery

    Institute of Scientific and Technical Information of China (English)

    张明

    2016-01-01

    由于城市人口、车辆较为集中,车辆需要频繁起步加速、换挡制动,特别是公交车辆,能源消耗量大,环境污染严重.液压技术实现车辆制动能量回收,能提高能量利用率,改善车辆的排放性能,降低对环境的污染程度,达到节能减排的目的.%Due to the urban population, the vehicle is more concentrated, the vehicle needs to start accelerating, shift brake, especially the public transport vehicles, energy consumption, environmental pollution is serious. Subsequently, the hydraulic technology is applied to the vehicle braking energy recovery, can improve the energy utilization rate, improve the vehicle emission performance, reduce the pollution degree of the environment, and achieve the purpose of energy saving and emission reduction.

  16. Design and Application of Hydraulic Brake System for Mega-watt Graded Wind Turbine%兆瓦级风力发电机组液压制动系统的设计与应用

    Institute of Scientific and Technical Information of China (English)

    董连俊

    2015-01-01

    阐述了风力发电机组液压制动系统的工作原理,针对兆瓦级风力发电机组对液压制动系统的高集成化、高可靠性的要求,对液压制动系统进行深入研究探讨;针对现场实际应用中容易出现的问题进行了分析,并提出相应的解决方案。%For the purpose of high integration and high reliability, this paper introduces principle of hydraulic brake system for wind turbine, and conducts in-depth research of this system. According to problems during application, proposes corresponding resolving scheme.

  17. 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...... characteristics, and employs piston- and valve spool positions- and load- and supply pressure feedback. The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems. In order to accomplish this task, an integral sliding mode...... 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....

  18. Method and apparatus for electromagnetically braking a motor

    Science.gov (United States)

    Davis, Donald R. (Inventor); Radford, Nicolaus A (Inventor); Permenter, Frank Noble (Inventor); Parsons, Adam H (Inventor); Mehling, Joshua S (Inventor)

    2011-01-01

    An electromagnetic braking system and method is provided for selectively braking a motor using an electromagnetic brake having an electromagnet, a permanent magnet, a rotor assembly, and a brake pad. The brake assembly applies when the electromagnet is de-energized and releases when the electromagnet is energized. When applied the permanent magnet moves the brake pad into frictional engagement with a housing, and when released the electromagnet cancels the flux of the permanent magnet to allow a leaf spring to move the brake pad away from the housing. A controller has a DC/DC converter for converting a main bus voltage to a lower braking voltage based on certain parameters. The converter utilizes pulse-width modulation (PWM) to regulate the braking voltage. A calibrated gap is defined between the brake pad and permanent magnet when the brake assembly is released, and may be dynamically modified via the controller.

  19. New technical solutions of using rolling stock electrodynamical braking

    Directory of Open Access Journals (Sweden)

    Leonas Povilas LINGAITIS

    2009-01-01

    Full Text Available The paper considers some theoretical and practical problems associated with the use of traction motor are operating in the generator mode (in braking. Mathematical and graphical relationships of electrodynamic braking, taking into account the requirements raised to braking systems in rail transport are presented. The latter include discontinuity of braking process, braking force regulation, depending on the locomotive speed, mass, type of railway and other parameters. Schematic diagrams of the locomotive braking and ways of controlling the braking force by varying electric circuit parameters are presented. The authors suggested contact-free regulation method of braking resistor for controlling braking force in rheostatic braking, and resistor parameters regulate with pulse regulation mode by semiconductor devices, such as new electrical components for rolling stock – IGBT transistors operating in the key mode. Presenting energy savings power systems, which are using regenerative braking-returning energy and diesel engine or any form of hybrid traction vehicles systems, circuit diagrams, electrical parameters curves.

  20. Research on Swing Braking Energy Recovering Strategy of Hydraulic excavator%液压挖掘机回转制动能量回收策略的研究

    Institute of Scientific and Technical Information of China (English)

    刘薇; 贾跃虎; 丁小宁; 程旭华

    2015-01-01

    回转系统能量损耗大、具有很大的回收潜力,为了提高挖掘机的节能性,本文提出了基于马达电机组和液压蓄能器两种回收方式复合回收的能量回收策略,并将蓄能器回收的能量储存在超级电容中进行再利用.采用AMESim仿真软件对回转制动能量回收过程进行了仿真分析.仿真结果表明,基于液压蓄能器与超级电容的复合回收方案可行,在制动时可以完成能量回收,可以有效提高系统的回收效率.%The slewing hydraulic system has large energy loss and large potential of energy recovery. In order to improve the energy saving of excavator, the article proposes a energy recovery method for swing regenerative braking strategy, the system recover energy by both mo-tor group and hydraulic accumulator at the same time, and store the energy recovered by accumulator in Super capacitor, the hydraulic simu-lation model of the system was based by AMESim, simulation result indicated that the system recover energy by both Super capacitor and hydraulic accumulator is feasible. The system can complete the energy recovery effectively, and improve the recovery efficiency of the sys-tem.

  1. Modeling and control for hydraulic transmission of unmanned ground vehicle

    Institute of Scientific and Technical Information of China (English)

    王岩; 张泽; 秦绪情

    2014-01-01

    Variable pump driving variable motor (VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle (UGV). VPDVM is a dual-input single-output nonlinear system with coupling, which is difficult to control. High pressure automatic variables bang-bang (HABB) was proposed to achieve the desired motor speed. First, the VPDVM nonlinear mathematic model was introduced, then linearized by feedback linearization theory, and the zero-dynamic stability was proved. The HABB control algorithm was proposed for VPDVM, in which the variable motor was controlled by high pressure automatic variables (HA) and the variable pump was controlled by bang-bang. Finally, simulation of VPDVM controlled by HABB was developed. Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed, load and pump speed.

  2. 46 CFR 128.240 - Hydraulic or pneumatic power and control-materials and pressure design.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Hydraulic or pneumatic power and control-materials and... Hydraulic or pneumatic power and control—materials and pressure design. (a) Each standard piping component (such as pipe runs, fittings, flanges, and standard valves) for hydraulic or pneumatic power and...

  3. Active control of multi-input hydraulic journal bearing system

    Science.gov (United States)

    Chuang, Jen-Chen; Chen, Chi-Yin; Tu, Jia-Ying

    2016-09-01

    Because of the advantages of high accuracy, high capacity, and low friction, the development of hydrostatic bearing for machine tool receives significant attention in the last decades. The mechanics and mechanical design of hydrostatic journal bearing with capillary restrictors has been discussed in literature. However, pragmatically, the undesired loading effects of cutting force tend to result in resonance and instability of the rotor and damage the shaft during operation. Therefore, multi-input, active flow control using state feedback design is proposed in this paper. To this purpose, the proportional pressure valves are added to the hydraulic system as active control devices, and the linearised models of the bearing and valve are discussed and identified. Simulation and experimental work is conducted to verify the proposed active control and parameter identification techniques. The results show that the unbalance responses of the rotor are reduced by the proposed state feedback controller, which is able to regulate the flow pressure effectively, thus enhancing the stability and accuracy of the hydraulic journal bearing.

  4. 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...... towards structured (parametric) and unstructured (unmodeled dynamics) uncertainties. A third-order model of the actuated system is used to develop a sliding mode control which is implemented and tested on a simulation model. To avoid measurement of velocity and acceleration a simple first-order model...... is furthermore used to develop a simple sliding mode control (SSMC). The performance of the two controllers are compared and discussed....

  5. Design of Feed-forward Controller with Stick-slip Friction Modeling in Electro-mechanical Brake System

    Directory of Open Access Journals (Sweden)

    Park Giseo

    2016-01-01

    Full Text Available Electro-Mechanical Brake (EMB is expected to be one of the future brake system. Feedback controller with sensor measuring is commonly used for control of EMB. However, this controller has some issues like delayed response and extra cost about sensor installation. In this paper, Feed-forward controller in EMB is proposed for solving these problems of feedback control. Also, it is very necessary to describe dynamical phenomenon of friction in actual EMB system. The actual EMB system shows stick-slip friction of mechanical parts which is difficult to model and apply to design of controller. This research is focused on exquisitely describing this stick-slip friction. In order to do this, the experiment about EMB is proceeded in the open loop system with the motor current command and data from the experiment is used for identification of model parameters during stiction. Then, parameters during slip is estimated in the closed loop system. Finally, developed friction model of EMB is proposed and it is utilized for design of feed-forward controller. Matlab Simulink is used for design of EMB simulation model and EMB test bench is utilized for experiment. Performance of proposed control system is compared with that of feedback control system.

  6. Rail Brake System Using a Linear Induction Motor for Dynamic Braking

    Science.gov (United States)

    Sakamoto, Yasuaki; Kashiwagi, Takayuki; Tanaka, Minoru; Hasegawa, Hitoshi; Sasakawa, Takashi; Fujii, Nobuo

    One type of braking system for railway vehicles is the eddy current brake. Because this type of brake has the problem of rail heating, it has not been used for practical applications in Japan. Therefore, we proposed the use of a linear induction motor (LIM) for dynamic braking in eddy current brake systems. The LIM reduces rail heating and uses an inverter for self excitation. In this paper, we estimated the performance of an LIM from experimental results of a fundamental test machine and confirmed that the LIM generates an approximately constant braking force under constant current excitation. At relatively low frequencies, this braking force remains unaffected by frequency changes. The reduction ratio of rail heating is also approximately proportional to the frequency. We also confirmed that dynamic braking resulting in no electrical output can be used for drive control of the LIM. These characteristics are convenient for the realization of the LIM rail brake system.

  7. IDEAL BRAKE FORCE DISTRIBUTION BETWEEN THE AXLES OF THE TWO-AXLE VEHICLE SERVICE BRAKE APPLICATIONS

    Directory of Open Access Journals (Sweden)

    M. Podryhalo

    2015-07-01

    Full Text Available The obtained analytical expressions allow us to evaluate the stability of two-axle vehicles at various slowdowns. An analytical expression for calculating the ideal according to condition stability ensuring of a two-axle vehicle at service brake applications of brake force distribution allows to offer automatic control devices for brake force adjucement. With decellerationg growth of the two-axle vehicle at service braking the braking force acting on the front axle should decrease relative to the brake force on the rear axle.

  8. Teaching Thermal Hydraulics & Numerical Methods: An Introductory Control Volume Primer

    Energy Technology Data Exchange (ETDEWEB)

    D. S. Lucas

    2004-10-01

    A graduate level course for Thermal Hydraulics (T/H) was taught through Idaho State University in the spring of 2004. A numerical approach was taken for the content of this course since the students were employed at the Idaho National Laboratory and had been users of T/H codes. The majority of the students had expressed an interest in learning about the Courant Limit, mass error, semi-implicit and implicit numerical integration schemes in the context of a computer code. Since no introductory text was found the author developed notes taught from his own research and courses taught for Westinghouse on the subject. The course started with a primer on control volume methods and the construction of a Homogeneous Equilibrium Model (HEM) (T/H) code. The primer was valuable for giving the students the basics behind such codes and their evolution to more complex codes for Thermal Hydraulics and Computational Fluid Dynamics (CFD). The course covered additional material including the Finite Element Method and non-equilibrium (T/H). The control volume primer and the construction of a three-equation (mass, momentum and energy) HEM code are the subject of this paper . The Fortran version of the code covered in this paper is elementary compared to its descendants. The steam tables used are less accurate than the available commercial version written in C Coupled to a Graphical User Interface (GUI). The Fortran version and input files can be downloaded at www.microfusionlab.com.

  9. Robust Clamping Force Control of an Electro-Mechanical Brake System for Application to Commercial City Buses

    Directory of Open Access Journals (Sweden)

    Sangjune Eum

    2017-02-01

    Full Text Available This paper proposes a sensor-less robust force control method for improving the control performance of an electro-mechanical brake (EMB which is applicable to commercial city buses. The EMB generates the accurate clamping force commanded by a driver through an independent motor control at each wheel instead of using existing mechanical components. In general, an EMB undergoes parameter variation and a backdrivability problem. For this reason, the cascade control strategy (e.g., force-position cascade control structure is proposed and the disturbance observer is employed to enhance control robustness against model variations. Additionally, this paper proposed the clamping force estimation method for a sensor-less control, i.e., the clamping force observer (CFO. Finally, in order to confirm the performance and effectiveness of a proposed robust control method, several experiments are performed and analyzed.

  10. Permeability, storage and hydraulic diffusivity controlled by earthquakes

    Science.gov (United States)

    Brodsky, E. E.; Fulton, P. M.; Xue, L.

    2016-12-01

    Earthquakes can increase permeability in fractured rocks. In the farfield, such permeability increases are attributed to seismic waves and can last for months after the initial earthquake. Laboratory studies suggest that unclogging of fractures by the transient flow driven by seismic waves is a viable mechanism. These dynamic permeability increases may contribute to permeability enhancement in the seismic clouds accompanying hydraulic fracking. Permeability enhancement by seismic waves could potentially be engineered and the experiments suggest the process will be most effective at a preferred frequency. We have recently observed similar processes inside active fault zones after major earthquakes. A borehole observatory in the fault that generated the M9.0 2011 Tohoku earthquake reveals a sequence of temperature pulses during the secondary aftershock sequence of an M7.3 aftershock. The pulses are attributed to fluid advection by a flow through a zone of transiently increased permeability. Directly after the M7.3 earthquake, the newly damaged fault zone is highly susceptible to further permeability enhancement, but ultimately heals within a month and becomes no longer as sensitive. The observation suggests that the newly damaged fault zone is more prone to fluid pulsing than would be expected based on the long-term permeability structure. Even longer term healing is seen inside the fault zone of the 2008 M7.9 Wenchuan earthquake. The competition between damage and healing (or clogging and unclogging) results in dynamically controlled permeability, storage and hydraulic diffusivity. Recent measurements of in situ fault zone architecture at the 1-10 meter scale suggest that active fault zones often have hydraulic diffusivities near 10-2 m2/s. This uniformity is true even within the damage zone of the San Andreas fault where permeability and storage increases balance each other to achieve this value of diffusivity over a 400 m wide region. We speculate that fault zones

  11. 49 CFR 236.701 - Application, brake; full service.

    Science.gov (United States)

    2010-10-01

    ... developed. As applied to an automatic or electro-pneumatic brake with speed governor control, an application... 49 Transportation 4 2010-10-01 2010-10-01 false Application, brake; full service. 236.701 Section... § 236.701 Application, brake; full service. An application of the brakes resulting from a continuous...

  12. The design of brake fatigue testing system

    OpenAIRE

    2015-01-01

    Brake is used to reduce the operating speed of the machinery equipment or to make it stop. It is essential for vehicles, climbing machines and many fixed equipment in their safety work. Brake tester is an experimental apparatus to measure and analyse the braking performance. Based on the PLC technology and for the purpose of testing brake shoe friction material’s life, this paper designed a virtual brake test platform. In it, inverter were used to control the motor, so that it can load automa...

  13. Braking System for Domestic Low-floor Light Rail Transit Vehicles%国产低地板轻轨车辆制动系统方案

    Institute of Scientific and Technical Information of China (English)

    曹国利; 曾宪华; 刘睿

    2012-01-01

    描述了国产化低地板车制动系统的参数、组成和原理,本系统为电子液压制动系统,由电气指令直接控制液压基础制动装置,简化了制动系统,节省了车底空间,解决了低地板轻轨车辆底部空间小,无法容纳空气制动装置的问题,满足低地板轻轨车辆的要求.%The parameters,composition and principle of domestic low-floor hydraulic brake system are described. This system uses electronic signals to control the foundation braking gears directly,it simplifies the braking systems and occupies less space. It also solves the installation problem of pneumatic braking equipments under the floor in a lowfloor light rail vehicle. Consequently, the electric hydraulic braking system could meet the requirements of low-floor light rail vehicles, and help to establish a theoretical foundation for the future study of low-floor hydraulic brake system.

  14. Experimental Investigation on the Basic Law of Hydraulic Fracturing After Water Pressure Control Blasting

    Science.gov (United States)

    Huang, Bingxiang; Li, Pengfeng; Ma, Jian; Chen, Shuliang

    2014-07-01

    Because of the advantages of integrating water pressure blasting and hydraulic fracturing, the use of hydraulic fracturing after water pressure control blasting is a method that is used to fully transform the structure of a coal-rock mass by increasing the number and range of hydraulic cracks. An experiment to study hydraulic fracturing after water pressure blasting on cement mortar samples (300 × 300 × 300 mm3) was conducted using a large-sized true triaxial hydraulic fracturing experimental system. A traditional hydraulic fracturing experiment was also performed for comparison. The experimental results show that water pressure blasting produces many blasting cracks, and follow-up hydraulic fracturing forces blasting cracks to propagate further and to form numerous multidirectional hydraulic cracks. Four macroscopic main hydraulic cracks in total were noted along the borehole axial and radial directions on the sample surfaces. Axial and radial main failure planes induced by macroscopic main hydraulic cracks split the sample into three big parts. Meanwhile, numerous local hydraulic cracks were formed on the main failure planes, in different directions and of different types. Local hydraulic cracks are mainly of three types: local hydraulic crack bands, local branched hydraulic cracks, and axial layered cracks. Because local hydraulic cracks produce multiple local layered failure planes and lamellar ruptures inside the sample, the integrity of the sample decreases greatly. The formation and propagation process of many multidirectional hydraulic cracks is affected by a combination of water pressure blasting, water pressure of fracturing, and the stress field of the surrounding rock. To a certain degree, the stress field of surrounding rock guides the formation and propagation process of the blasting crack and the follow-up hydraulic crack. Following hydraulic fracturing that has been conducted after water pressure blasting, the integrity of the sample is found to

  15. Analysis of an controller design for an electro-hydraulic servo pressure regulator

    DEFF Research Database (Denmark)

    Pedersen, Henrik C.; Andersen, Torben Ole; Madsen, A. M.;

    2009-01-01

    of the existing hydraulic components there are, however, still a need for being able to generate a hydraulic pilot pressure, as e.g. almost all open-circuit pumps are hydraulically controlled. The focus of the current paper is therefore on the analysis and controller design an electro-hydraulic servo pressure...... regulator, which generates a hydraulic LS-pressure based on an electrical reference, hereby synergistically integrating knowledge from all parts of the mechatronics area. The servo pressure regulator is used to generate the LS-signal for a variable displacement pump, and the paper rst presents...... to generate a controlled leakage  ow that aids in stabilising the system. The robustness of the system is then discussed in relation to dierent pilot line volumes and pump dynamics. Finally experimental results are presented, where the performance is compared to that of a similar hydraulic reference system...

  16. 混合动力汽车再生制动压力协调控制系统%Pressure Coordinated Control System for HEV Regenerative Braking

    Institute of Scientific and Technical Information of China (English)

    杨阳; 邹佳航; 杨洋; 秦大同; 刘永刚

    2014-01-01

    再生制动作为混合动力汽车中的一门关键技术,越来越受到大家的关注和重视,针对国内外混合动力汽车再生制动压力协调控制系统的局限性和复杂性,设计出一种基于 ABS 硬件的再生制动压力协调控制系统,该系统实现了再生制动与(Anti-lock braking system,ABS)制动功能下的压力协调控制。建立AMEsim与Simulink联合仿真模型并进行恒制动强度下、变制动强度下、纯ABS模式下和综合制动模式下的仿真分析,结果表明除纯ABS外各模式下的电池SOC(State of Charge)回收率分别为0.27%、0.33%和0.29%,仿真结果表明电机能将汽车制动时减少的能量进行一定程度的回收并提供制动力。因此,所设计系统能实现各制动模式下压力协调控制以满足汽车制动需求,仿真结果验证了该方案的有效性和可行性,为再生制动系统的设计与优化奠定了基础。%As a key technology of hybrid electric vehicles, regenerative braking is attracting more and more attention. In view of the limitations and complexity of pressure coordinated control system for the regenerative braking of hybrid electric vehicles, a new kind of pressure coordinated control system has been designed in the basis of appropriate transformation on anti-lock braking system (ABS). The system can realize the pressure coordinated control of the regenerative braking and the traditional ABS braking. Based on AMESim-simulink co-simulation, models have been established to make some simulation analysis under the conditions of constant braking intensity, variable braking intensity, pure ABS model and integrated braking model. The result is that the battery’s state of charge(SOC) recovery rates of them except pure ABS model are 0.27%, 0.33% and 0.29% respectively. It proves that motor can partly recover energy which is reduced in braking and provide part braking force. Consequently, the system can realize pressure

  17. A new hybrid spring brake orthosis for controlling hip and knee flexion in the swing phase.

    Science.gov (United States)

    Gharooni, S; Heller, B; Tokhi, M O

    2001-03-01

    In this study it is proposed that active contraction of muscles might be artificially replaced by a spring brake orthosis (SBO) to provide near-natural knee and hip swing phase trajectories for gait in spinal cord injured subjects. The SBO is a new gait restoration system in which stored spring elastic energy and potential energy of limb segments are utilized to aid gait. It is also shown that hip flexion can be produced without the need for withdrawal reflex, hip flexor stimulus or any mechanical actuator at the hip. A hip flexion angle of 21 degrees was achieved by a nonimpaired subject wearing a prototype orthosis.

  18. Hydraulically actuated hexapod robots design, implementation and control

    CERN Document Server

    Nonami, Kenzo; Irawan, Addie; Daud, Mohd Razali

    2014-01-01

    Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subject of multi-legged robots. The main objective of this book is to describe some of the major control issues concerning walking robots that the authors have faced over the past 10 years. A second objective is to focus especially on very large hydraulically driven hexapod robot locomotion weighing more than 2,000 kg, making this the first specialized book on this topic. The 10 chapters of the book touch on diverse relevant topics such as design aspects, implementation issues, modeling for control, navigation and control, force and impedance control-based walking, fully autonomous walking, walking and working tasks of hexapod robots, and the future of walking robots. The construction machines of the future will very likel...

  19. A conceptual model of check dam hydraulics for gully control

    Directory of Open Access Journals (Sweden)

    C. Castillo

    2013-09-01

    Full Text Available There is little information in scientific literature regarding the modifications induced by check dam systems in flow regimes in restored gully reaches, despite it being a crucial issue for the design of conservation measures. Here, we develop a conceptual model to classify flow regimes in straight rectangular channels for initial and dam-filling conditions as well as a method of estimating efficiency in order to provide guidelines for optimal design. The model integrates several previous mathematical approaches for assessing the main processes involved (hydraulic jump HJ, impact flow, gradually varied flows. Its performance was compared with the simulations obtained from IBER, a bi-dimensional hydrodynamic model. The impact of check dam spacing (defined by the geometric factor of influence c on efficiency was explored. Eleven main classifications of flow regimes were identified depending on the element and level of influence. The model produced similar results when compared with IBER, but led to higher estimations of HJ and impact lengths. Total influence guaranteed maximum efficiency and HJ control defining the location of the optimal c. Geometric total influence (c = 1 was a valid criterion for the different stages of the structures in a wide range of situations provided that hydraulic roughness conditions remained high within the gully, e.g. through revegetation. Our total influence criterion involved shorter spacing than that habitually recommended in technical manuals for restoration, but was in line with those values found in spontaneous and stable step-pools systems, which might serve as a reference for man-made interventions.

  20. Contamination Control and Monitoring of Tap Water as Fluid in Industrial Tap Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Conrad, Finn; Adelstorp, Anders

    1998-01-01

    Presentation of results and methods addressed to contamination control and monitoring of tap water as fluid in tap water hydraulic systems.......Presentation of results and methods addressed to contamination control and monitoring of tap water as fluid in tap water hydraulic systems....

  1. Contamination Control and Monitoring of Tap Water as Fluid in Industrial Tap Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Conrad, Finn; Adelstorp, Anders

    1998-01-01

    Presentation of results and methods addressed to contamination control and monitoring of tap water as fluid in tap water hydraulic systems.......Presentation of results and methods addressed to contamination control and monitoring of tap water as fluid in tap water hydraulic systems....

  2. Nonlinear, Adaptive and Fault-tolerant Control for Electro-hydraulic Servo Systems

    DEFF Research Database (Denmark)

    Choux, Martin

    Fluid power systems have been in use since 1795 with the rst hydraulic press patented by Joseph Bramah and today form the basis of many industries. Electro hydraulic servo systems are uid power systems controlled in closed-loop. They transform reference input signals into a set of movements...... in hydraulic actuators (cylinders or motors) by the means of hydraulic uid under pressure. With the development of computing power and control techniques during the last few decades, they are used increasingly in many industrial elds which require high actuation forces within limited space. However, despite...... numerous attractive properties, hydraulic systems are always subject to potential leakages in their components, friction variation in their hydraulic actuators and deciency in their sensors. These violations of normal behaviour reduce the system performances and can lead to system failure...

  3. Application of AMESim and MATLAB on Modeling and Study of Megawatt Wind Turbine Brake System Hydraulic Locking Device%AMESim与MATLAB在兆瓦级风力发电机制动系统液压锁紧装置建模及研究中的应用

    Institute of Scientific and Technical Information of China (English)

    闫利文; 艾存金; 王福山; 谢辉

    2015-01-01

    作为一个兆瓦级风力发电机制动系统,除制动装置外,在适当的位置还应设有风轮的锁定装置,以确保在正常制动系统失效情况下风机在不会突发的再次启动。针对该问题文章设计了一套液压锁紧装置,并分别采用AMEsim和MATLAB软件对其进行了研究与分析,并比较了两种分析软件在液压系统研究中的不同。%As a megawatt wind turbine braking system,in addition to the braking device,there should also have a locking device in the ap-propriate position,In order to ensure not burst start again during normal braking system failure. Aiming at this problem, we designed a set of hydraulic locking device,used AMESim and MATLAB software to research and analysis the hydraulic locking device,compared the differ-ence between two of them in the research of hydraulic system.

  4. 77 FR 51649 - Federal Motor Vehicle Safety Standards; Motorcycle Brake Systems

    Science.gov (United States)

    2012-08-24

    .... George Soodoo, Division Chief, Vehicle Dynamics (NVS-122), Office of Crash Avoidance Standards (Email... technologies would help prevent the introduction of unsafe motorcycle brake systems on the road. Moreover... the proper grade of brake fluid. If the service brake system is a split hydraulic type, a...

  5. 汽车EPB系统控制原理研究%Researches on Control Principles of Automotive Electric Parking Brake EPB System

    Institute of Scientific and Technical Information of China (English)

    刘峰

    2016-01-01

    汽车电子技术的不断进步,令驻车制动系统即手制动系统从过去机/液式的,逐渐变成电子式的。电子驻车制动可在行车前自动释放或在熄火后自动拉紧,省去了忘记解除驻车制动或“坡起”溜车等情况的困扰与风险;由于电子驻车制动系统即EPB系统的结构较为复杂,需要对其控制原理进行分析研究,本文主要包括EPB的组成及工作原理等。%With the automobile’s and electrical technology constantly development, the parking brake system is changing from the primary mechanical, hydraulic into electrical. Electric parking brake (EPB) system is able to release it before ignoring or strain it after stopping the engine automatically, and cuts the dififculties and dangerous rates of forgetting to be released or the slide on the slope; Because of the automotive EPB frame is so complex, the electrical brake system needs to analysis. This thesis is mainly contains the EPB structures and working principles.

  6. Analysis of and H∞ Controller Design For An Electro-Hydraulic Servo Pressure Regulator

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole;

    2011-01-01

    -circuit pumps are still hydraulically controlled, there is however still a need for being able to generate a hydraulic pilot pressure. The focus of the current paper is on the analysis and controller design of an electrohydraulic servo pressure regulator, which generates a hydraulic LS-pressure for a variable......Currently mobile hydraulics is in a transition phase, where electronic sensors and digital signal processors are becoming standard on a high number of machines, hereby replacing hydraulic pilot lines and offering new possibilities with regard to both control and feasibility. As most open...... displacement pump based on an electrical reference. The paper first presents the considered system and an experimentally verified model of this. A linearized model and a stability analysis is then presented, based on which an H∞control strategy is selected. A nominal performance and a robustly stable...

  7. Active disturbance rejection control for hydraulic width control system for rough mill

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The highly nonlinear behavior of the system limits the performance of classical linear proportional and integral (PI) controllers used for hot rolling. An active disturbance rejection controller is proposed in this paper to deal with the nonlinear problem of hydraulic servo system in order to preserve fast response and small overshoot of control system. The active disturbance rejection (ADR) controller is composed of nonlinear tracking differentiator (TD), extended state observer (ESO) and nonlinear feedback (NF) law. An example of the hydraulic edger system case study is investigated to show the effectiveness and robustness of the proposed nonlinear controller, especially, in the circumstance of foreign disturbance and working condition variation,compared with classic PI controller.

  8. Space Shuttle Main Engine control system. [hydraulic actuator with digital control

    Science.gov (United States)

    Seitz, P. F.; Searle, R. F.

    1973-01-01

    The Space Shuttle Main Engine is a reusable, high-performance rocket engine being developed by the Rocketdyne Div. of Rockwell International to satisfy the operational requirements of the Space Shuttle Orbiter Vehicle. The design incorporates a hydraulically actuated, closed-loop servosystem controlled and monitored by a programmable electronic digital controller. The controller accepts vehicle commands for the various engine operational phases, positions the appropriate valves, monitors the engine for the required performance precisions and conditions, and provides redundancy management.

  9. Emergency braking : research summary.

    NARCIS (Netherlands)

    Schlösser, L.H.M.

    1976-01-01

    This report deals with an investigation concerning braking capacity of trucks if somewhere a failure occurs in the normal service brake. Purpose of research was to get an insight in various secondary braking systems for trucks. It is shown that with almost all of the secondary braking system it was

  10. HYDRAULIC ACTIVE GUIDE ROLLER SYSTEM FOR HIGH-SPEED ELEVATOR BASED ON FUZZY CONTROLLER

    Institute of Scientific and Technical Information of China (English)

    FENG Yonghui; ZHANG Jianwu

    2007-01-01

    Increase of elevator speed brings about amplified vibrations of high-speed elevator. In order to reduce the horizontal vibrations of high-speed elevator, a new type of hydraulic active guide roller system based on fuzzy logic controller is developed. First the working principle of the hydraulic guide system is introduced, then the dynamic model of the horizontal vibrations for elevator cage with active guide roller system and the mathematical model of the hydraulic system are given. A fuzzy logic controller for the hydraulic system is designed to control the hydraulic actuator. To improve the control performance, preview compensation for the controller is provided. Finally, simulation and experiments are executed to verify the hydraulic active guide roller system and the control strategy. Both the simulation and experimental results indicate that the hydraulic active guide roller system can reduce the horizontal vibrations of the elevator effectively and has better effects than the passive one, and the fuzzy logic controller with preview compensation can give superior control performance.

  11. Analysis of Testing and Matching of Braking Energy Recovery System of Hydraulic Energy Storage Type Buses%液压蓄能式公共汽车制动能量回收系统匹配与试验分析

    Institute of Scientific and Technical Information of China (English)

    曲金玉; 王儒; 任传波; 韩尔睴; 刘林

    2014-01-01

    针对城市公共汽车运行的特殊工况,设计并研制了一种新型液压蓄能式制动能量回收系统,介绍了该制动能量回收系统的组成和工作原理,对液压系统主要部件参数进行了分析与匹配。通过台架和实车道路试验,结果表明:所设计的液压蓄能式制动能量回收系统在满足汽车运行安全的前提下,具有较高的制动能量回收率,对改善汽车的燃油经济性具有积极作用。%Aimed at the special condition of the city buses operation,a new type of hydraulic energy storage type braking energy recovery system was designed and developed.The composition and working principle of the brake energy recovery system was intro-duced,and the main components of the hydraulic system parameters were analyzed and matched.Finally,by the bench and vehicle re-fitting test,the results show that the design of the new hydraulic energy storage type braking energy regeneration system improved the braking energy recovery rate under the premise of safety operation,has positive effect on fuel economy improvement of automobile.

  12. 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...... is used as test facility acting as load for the hydraulic servo system. An experimentally verified non-linear model of the complete system has been developed and used to design a series of both linear and non-linear control schemes. The controllers from each category are compared with respect to design...

  13. Use of single chip microcomputer in hydraulic digital adaptive control system

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Presents a one-grade adaptive controller with one reference model which is built according to δ MRACS adaptive control theorv and used to control an actual high-order hydraulic system, and the whole hard ware system used, which includes a AT89C51 single chip microcomputer, 74Ls373 flip-latch, 6116 store, eight-bit ADC0809, and so on, and the satisfactory results obtained in study on hydraulic control system.

  14. Study on heavy duty truck stability control by braking force control; Seidoryoku seigyo ni yoru truck no sharyo kyodo anteika ni taisuru ichikosatsu

    Energy Technology Data Exchange (ETDEWEB)

    Matsuda, K.; Shinjo, H.; Harada, M.; Ohata, K.; Sakata, K. [Mitsubishi Motors Corp., Tokyo (Japan)

    1997-10-01

    Now a days we are discussing about the vehicle stability control system which freely controls the braking force of each wheel to apply the yaw t and decelerate the vehicle. The system drastically improve the vehicle cornering performance and stabilize the vehicle behavior in its critical area. This paper discusses a point to notice in case of applying this technique for heavy duty trucks, and describes the possibility of the stabilization for vehicle cornering behavior about heavy duty truck. 3 refs., 10 figs., 2 tabs.

  15. Analysis of and H∞ Controller Design For An Electro-Hydraulic Servo Pressure Regulator

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2011-01-01

    -circuit pumps are still hydraulically controlled, there is however still a need for being able to generate a hydraulic pilot pressure. The focus of the current paper is on the analysis and controller design of an electrohydraulic servo pressure regulator, which generates a hydraulic LS-pressure for a variable...... displacement pump based on an electrical reference. The paper first presents the considered system and an experimentally verified model of this. A linearized model and a stability analysis is then presented, based on which an H∞control strategy is selected. A nominal performance and a robustly stable...

  16. Specific features pertinent to modeling of hydraulic systems containing control members

    Science.gov (United States)

    Tverskoy, Yu. S.; Marshalov, E. D.

    2014-09-01

    The theoretical principles applied for modeling of hydraulic systems fitted with control members that allow a hydraulic line's specific features (topology) to be taken into account are considered. Such modeling opens the possibility to predict the actual flow (throttling) characteristics at early design stages and timely introduce the appropriate corrections in pipeline topology. The modeling problem is solved with the use of generalized thermodynamic analysis methods. The mathematical models of hydraulic systems containing control members are brought to the level of real-time simulation models, which can be used for setting up computation experiments for achieving better performance of automatic closed-loop control systems.

  17. Method for use of hydraulically or electrically controlled solenoids under failed on conditions

    Science.gov (United States)

    Bolenbaugh, Jonathan M.; Naqi, Syed

    2014-07-08

    A method to operate a clutch device in an electro-mechanical transmission mechanically-operatively coupled to an internal combustion engine and at least one electric machine includes, in response to a failure condition detected within a flow control device configured to facilitate flow of hydraulic fluid for operating the clutch device, selectively preventing the flow of hydraulic fluid from entering the flow control device and feeding the clutch device. Synchronization of the clutch device is initiated when the clutch device is intended for activation, and only if the clutch device is synchronized, the flow of hydraulic fluid is selectively permitted to enter the flow control device to activate the clutch device.

  18. Position control of nonlinear hydraulic system using an improved PSO based PID controller

    Science.gov (United States)

    Ye, Yi; Yin, Chen-Bo; Gong, Yue; Zhou, Jun-jing

    2017-01-01

    This paper addresses the position control of valve-controlled cylinder system employed in hydraulic excavator. Nonlinearities such as dead zone, saturation, discharge coefficient and friction existed in the system are highlighted during the mathematical modeling. On this basis, simulation model is established and then validated against experiments. Aim for achieving excellent position control performances, an improved particle swarm optimization (PSO) algorithm is presented to search for the optimal proportional-integral-derivative (PID) controller gains for the nonlinear hydraulic system. The proposed algorithm is a hybrid based on the standard PSO algorithm but with the addition of selection and crossover operators from genetic algorithm in order to enhance the searching efficiency. Furthermore, a nonlinear decreasing scheme for the inertia weight of the improved PSO algorithm is adopted to balance global exploration and local exploration abilities of particles. Then a co-simulation platform combining the simulation model with the improved PSO tuning based PID controller is developed. Comparisons of the improved PSO, standard PSO and Phase Margin (PM) tuning methods are carried out with three position references as step signal, ramp signal and sinusoidal wave using the co-simulation platform. The results demonstrated that the improved PSO algorithm can perform well in PID control for positioning of nonlinear hydraulic system.

  19. Research of Braking Force Distribution and Energy Recovery Control Strategy of Hybrid Electric Vehicle%混合动力电动汽车制动力分配及能量回收控制策略研究

    Institute of Scientific and Technical Information of China (English)

    金宇华; 张庭芳; 刘建春

    2011-01-01

    Braking energy recovery is one of resource of HEV great advantage over traditional vehicles. Through regenerative braking, kinetic energy in the course of braking can be transformed to electricity energy into battery which can be utilized again when driving, so the vehicle energy efficiency is improved. So it's necessary to research on how to coordinate and control the assignment proportion between friction brake and regenerative brake, and try to recycle braking energy as much as possible under the precondition that brake security is ensured, and then the secondary development of regenerative braking control strategy module in simulation software ADVISOR is carried out.%制动能量回收是混合动力汽车相对于传统燃油汽车的巨大节能优势来源之一.利用再生制动,可以将制动过程中的动能转化为电能储存到电池当中,以备驱动时使用,提高整车的能量利用率.深入研究了如何协调控制摩擦制动和再生制动之间的分配比例,在保证制动稳定性前提下,尽可能多地回收制动能量,并对ADVISOR中再生制动控制策略模块进行二次开发.

  20. Regenerative Braking Algorithm for an ISG HEV Based on Regenerative Torque Optimization

    Institute of Scientific and Technical Information of China (English)

    XIAO Wen-yong; WANG Feng; ZHUO Bin

    2008-01-01

    A novel regenerative braking algorithm based on regenerative torque optimization with emulate engine compression braking (EECB) was proposed to make effective and maximum use of brake energy in order to improve fuel economy. The actual brake oil pressure of driving wheel which is reduced by the amount of the regenerative braking force is supplied from the electronic hydraulic brake system. Regenerative torque optimization maximizes the actual regenerative power recuperation by energy storage component, and EECB is a useful extended type of regenerative braking. The simulation results show that actual regenerative power recuperation for the novel regenerative braking algorithm is more than using conventional one, and life-span of brake disks is prolonged for the novel algorithm.

  1. Improvement of control strategy in hybrid brake system of electric vehicle%电动汽车混合制动系统控制策略的改进

    Institute of Scientific and Technical Information of China (English)

    何仁; 俞剑波; 王润才

    2013-01-01

    针对电动汽车混合制动系统,通过对整车制动动力学和ECE R13法规的分析,理论上确定了混合制动系统的安全制动区域.在此区域内,以充分回收车辆制动能量为目标,在满足ECE R13制动法规和整车制动稳定性的前提下,对于前后轴机械制动力分配固定的混合制动系统,提出了一种电动机制动力与摩擦制动力分配的优化方法.以工作模式切换点的坐标及制动力分配曲线的斜率为优化对象进行优化.此外,基于制动力分配影响因素多变的特点,设计了一种3参数输入的制动力分配模糊控制策略.分别建立新的制动控制策略模型嵌入到ADVISOR2002中进行仿真分析,从而验证改进控制策略的有效性.结果表明2种新的控制策略能够有效改善电动汽车的制动能量回收率.%The safe area of braking force distribution was established theoretically by analyzing braking dynamics and the ECE R13 rule for hybrid braking system of electric vehicles. In the safe area, to obtain maximum energy of regenerative braking and meet the requirements of ECE R13 and braking stability, an optimization method of motor regenerative braking force and friction braking force distribution was proposed for the hybrid braking system with friction braking force distribution to front and rear axle. The point coordinate of switching operation mode and the rake ratio of braking force distribution were optimized. According to the changeable effect factors of braking force distribution, a novel control strategy of braking force distribution was designed based on fuzzy logic with three parameters-input. The new models of braking control strategy were simulated in ADVISOR2002 to verify the improved control strategy. The results show that the two new control strategies can effectively improve the rate of braking energy recovery in electric vehicle.

  2. Control strategy for braking energy recovery of hybrid powered sedan%混合动力轿车制动能量回馈控制策略

    Institute of Scientific and Technical Information of China (English)

    陶欣; 付主木

    2012-01-01

    A new type of braking energy recovery system and corresponding control strategy were designed so that the cruising mileage of hybrid powered sedans would be increased and the brake safety ensured. Taking a hybrid powered sedan as investigation object, a simulation model was set up for this recovery system on the basis of software ADVISOR and a braking energy recovery system with anti-lock braking subsystem was designed based on software ADVISOR This recovery system was simulatively analyzed with different control strategy for a typical city driving cycle. The result showed that the braking energy recovery system was safe and reliable, the recovered braking power and frictional braking power could well be adjusted, and its energy recovery capacity was brought into full play, the energy recovery effect was remarkable and compared with the original control strategy in software ADVISOR, its fuel economy was improved by about 15% for UDCC cycle.%设计出一种新型的制动能量回馈系统及相应的控制策略,从而显著提高混合动力轿车的续驶里程并保证车辆的制动安全.以某型混合动力轿车为研究对象,基于ADVISOR软件建立制动能量回馈系统的仿真模型,设计出一种新型的集成防抱死系统的制动能量回馈系统,并在不同控制策略下对该制动能量回收系统进行典型城市工况循环的仿真分析.结果表明,所设计的制动能量回馈系统安全可靠,回馈制动力与摩擦制动力能够很好地调节,最大限度地发挥能量回馈能力;能量回馈效果显著,在UDCC循环工况下,比ADVISOR原生制动控制策略燃油经济性提高了约15%.

  3. 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...... implementation of sliding mode control, achieving continuous control inputs, while maintaining the main properties of sliding modes. Under certain model assumptions, some of these controllers may even be applied as output feedback controllers. However, intrinsic nonlinear dynamic effects of hydraulic valves...... sliding algorithm known as the super twisting controller is considered for output feedback control and compared with conventional first order sliding mode control. The controllers under consideration are applied for position tracking control of a hydraulic valve-cylinder drive exhibiting strong variations...

  4. RESEARCH ON STABILITY AND MINIMUM ORIFICE AREA OF HYDRAULIC SERVO POSITION CONTROL SYSTEM

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    This paper reports results of research on the stability of a hydraulic servo position system using generalization pulse code modulation (GPCM) and common on/off valves for hydraulic servo control. The de- scribing function was first used to analyze the system′s stability, and based on the nonlinear theory, an equation calculating the minimum orifice area of GPCM valves was derived by applying results of analysis on the stability of the GPCM control system. In the end, aimed at developing a hydraulic servo position system to be used in a paint robot, simulation and experiment were carried out. The results show that the theoretical conclusions accorded with practical results.

  5. Fuzzy Control System of Hydraulic Roll Bending Based on Genetic Neural Network

    Institute of Scientific and Technical Information of China (English)

    JIA Chun-yu; LIU Hong-min; ZHOU Hui-feng

    2005-01-01

    For nonlinear hydraulic roll bending control, a new fuzzy intelligent control method was proposed based on the genetic neural network. The method taking account of dynamic and static characteristics of control system has settled the problems of recognizing and controlling the unknown, uncertain and nonlinear system successfully,and has been applied to hydraulic roll bending control. The simulation results indicate that the system has good performance and strong robustness, and is better than traditional PID and neural-fuzzy control. The method is an effective tool to control roll bending force with increased dynamic response speed of control system and enhanced tracking accuracy.

  6. Super Twisting Second Order Sliding Mode Control for Position Tracking Control of Hydraulic Drives

    DEFF Research Database (Denmark)

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

    2013-01-01

    In this paper a control strategy based on second order sliding modes, generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD), is proposed. The main target is to overcome problems with linear controllers deteriorating performance due to the strong...... nonlinearities characterizing VCD's. The proposed controller requires pressure-, valve- and piston position measurements, and is based on the so-called super twisting algorithm and compensation of controlgain nonlinearities. Simulation results demonstrate strong robustness when subjected to large perturbations...

  7. Optimization Design of Control Strategy with Electro+EHB Braking System%电-液复合制动系统的控制策略多目标优化

    Institute of Scientific and Technical Information of China (English)

    李玉芳; 吴炎花

    2013-01-01

    Based on the design of electric car with electric + EHB braking system, the design put forward the control strategy of ideal braking force distribution. The constraint conditions of braking were analysed as: the constraint of braking regulations, the constraint of motor characteristics, braking stability and braking comfortable. And the optimum design was made by ISIGHT software. The dynamics and control models were established by SIMLINK software, then the Shanghai typical city bus driving cycle was selected. Compared with the parallel braking control strategy, the ideal braking force distribution strategy can not only greatly enhance the braking energy recovery efficiency, but also greatly improve braking efficiency and comfort.%研究电动汽车电机制动+EHB复合制动系统性能优化问题,提出理想制动力分配控制策略.分析制动时各环节的约束条件:制动法规的约束、电机特性的约束、制动稳定性的约束以及制动舒适性的约束条件,然后运用ISIGHT软件进行优化设计.再运用SIMLINK软件建立动力学和控制模型,选取上海典型城市公交循环工况,进行仿真.与并行制动控制策略比较,优化后的理想制动力分配策略不仅很大程度上提高制动能量回收效率,而且大大提高制动效能和制动平顺性.

  8. Research on control strategy of regenerative braking system based on HEV%HEV再生制动控制策略的研究

    Institute of Scientific and Technical Information of China (English)

    仇秋飞; 朱伟; 赵云飞; 吴叶青

    2011-01-01

    Regenerative braking is not only a significant characteristic of EV, but also can improve its economic efficiency. The constraints are analyzed in the course of braking energy recovery. Then by designing the vehicle structure and the control strategy of regenerative braking system to resolve or weaken the problem that limits the braking energy recovery, meeting the design' s objective. At last, the test is done on the road, and the result indicates: 25% power can be recovered, and the mileage is prolonged.%制动能量回收是电动汽车的一个重要特性,也是电动汽车能实现经济性的重要方面.分析了制动能量回收过程中的限制因素,然后通过对整车系统结构以及再生制动控制策略的设计,削弱并解决了这些因素对制动能量回收的限制,以达到设计目的.最后进行道路试验,试验结果表明:在多模式驱动下该新型混合动力的再生制动系统可以回收总能量的25%,延长了续驶里程.

  9. Co-Simulation Research of the Mechanical-Hydraulic-Control Coupling System of ITER Tractor

    Science.gov (United States)

    Yang, Xiuqing; Luo, Minzhou; Mei, Tao; Yao, Damao

    2009-06-01

    The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.

  10. Co-Simulation Research of the Mechanical-Hydraulic-Control Coupling System of ITER Tractor

    Institute of Scientific and Technical Information of China (English)

    YANG Xiuqing; LUO Minzhou; MEI Tao; YAO Damao

    2009-01-01

    The virtual prototyping models of the mechanical, hydraulic and control system of the ITER tractor were built with CATIA, ADAMS and MATLAB/Simulink respectively according to its heavy load and high precision characteristics, and the data transfer between the different models was accomplished by the integration interface between different software. Consequently the virtual experimental platform for the multi-disciplinary co-simulation was established. A co-simulation study of the mechanical-hydraulic-control coupling system of the ITER tractor was carried out. The synchronization servo control of parallel hydraulic cylinders was implemented, and the tracking control of the preconcerted trajectory of the hydraulic cylinders was realized on the established experimental platform. This paper presents the optimization design and technology rebuilding for the complicated coupling system with its theoretic foundation and co-simulation virtual experimental platform.

  11. Pressure regulation in nonlinear hydraulic networks by positive controls

    NARCIS (Netherlands)

    De Persis, Claudio; Skovmose Kallesøe, Carsten

    2009-01-01

    We report on our investigation of an industrial case study of a system distributed over a network, namely a large-scale hydraulic network which underlies a district heating system. The network comprises an arbitrarily large number of end-users and actuators distributed along the network. After intro

  12. Robust Force Control of a 6-Link Electro-Hydraulic Manipulator

    Science.gov (United States)

    Ahn, Kyoungkwan; Yokota, Shinichi

    Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulator because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electic line is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H∞ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

  13. Adaptive Control System of Hydraulic Pressure Based on The Mathematical Modeling

    Science.gov (United States)

    Pilipenko, A. V.; Pilipenko, A. P.; Kanatnikov, N. V.

    2016-04-01

    In this paper, the authors highlight the problem of replacing an old heavy industrial equipment, and offer the replacement of obsolete control systems on the modern adaptive control system, which takes into account changes in the hydraulic system of the press and compensates them with a corrective action. The proposed system can reduce a water hammer and thereby increase the durability of the hydraulic system and tools.

  14. Debris Control at Hydraulic Structures in Selected Areas of the United States and Europe

    Science.gov (United States)

    2007-11-02

    Selected Areas of the United States and Europe by N. Wallerstein , C. R. Thome, University of Nottingham S. R. Abt, Colorado State University Approved...December 1997 Debris Control at Hydraulic Structures in Selected Areas of the United States and Europe by N. Wallerstein , C. R. Thome Department... Wallerstein , N. Debris control at hydraulic structures in selected areas of the United States and Europe / by N. Wallerstein , C.R. Thome, S.R. Abt

  15. 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....

  16. Bus Pneumatic Braking Circuit Delay Analysis and Control%客车气压制动时延分析及其控制研究

    Institute of Scientific and Technical Information of China (English)

    覃涛; 李刚炎; 涂鸣; 吴婷

    2012-01-01

    A bus pneumatic braking circuit delay control method is proposed in this research. Considering the delay characteristics of bus pneumatic braking circuit, the mathematical model of bus pneumatic braking circuit was established. The simulation models were built using Matlab/ Simulink and advanced modeling environment for simulation of engineering ( AMESim) software, respectively. The bus pneumatic braking circuit delay characteristic was analyzed by the combination methods of theoretical deduction and simulation experiments. Based on close-loop feedback control theory, the method to control bus pneumatic braking circuit delay was proposed. The delay controller was designed using PID control algorithm and the comparison between the results of experiment and simulation was implemented. Simulation shows that the designed delay controller could reduce delay effectively and it could be a good support for developing the bus pneumatic braking control system.%提出了一种客车气压制动时延控制方法.考虑到客车气压制动系统的延时特性,建立了客车气压制动回路的数学模型,运用Matlab/Simulink和AMESim软件分别建立了其仿真模型,采用理论分析与仿真实验相结合的方法,分析了客车气压制动的时延特性;基于闭环反馈控制理论,提出了客车气压制动回路时延控制方法.运用PID控制算法设计了时延控制器,并进行了对比仿真.仿真结果表明,进行时延控制后,客车的制动时延为0.3s,制动距离缩短1.8m,提高了客车的制动稳定性.

  17. FRF based position controller design through system identification for A hydraulic cylinder

    Energy Technology Data Exchange (ETDEWEB)

    Seo, Hyoung Kyu; Kim, Dong Hwan [Dept. of Mechanical Design and Robot Engineering, Seoul National University of Science and Technology, Seoul (Korea, Republic of); Park, Jong Won [Reliability Assessment Center, Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2015-11-15

    In this study, we have focused on the design of a controller and an operating program for the operation of the hydraulic actuators used in a shaker. To control the motion of the shaker accurately, the position of each hydraulic cylinder should be controlled precisely even under an uncertain environment. For this purpose, we have suggested a control algorithm using an FRF (frequency response function) based control which senses the behavior of the actuator in advance, calculates a transfer function through the system identification method, and provides the final control input. The experimental results on the performance of this system were compared with that of a simple PID control algorithm.

  18. Aircraft Hydraulic System Leakage Detection and Servicing Recommendations Method

    Science.gov (United States)

    2014-10-02

    accumulators, filters, and consumers, that include all the actuators connected to the hydraulic power such as flight controls , brake and landing...Conference, October 4-8 Calgary, Alberta, Canada. Merrit, H. E., (1967), Hydraulic Control Systems. New York: John Willey & Sons. Vianna, W. O. L...2008), Modelagem e Análise do Sistema Hidráulico de uma Aeronave Comercial Regional. M.Sc. Thesis. Instituto Tecnológico de Aeronáutica, São José

  19. Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter.

    Science.gov (United States)

    Guo, Qing; Sun, Ping; Yin, Jing-Min; Yu, Tian; Jiang, Dan

    2016-05-01

    Some unknown parameter estimation of electro-hydraulic system (EHS) should be considered in hydraulic controller design due to many parameter uncertainties in practice. In this study, a parametric adaptive backstepping control method is proposed to improve the dynamic behavior of EHS under parametric uncertainties and unknown disturbance (i.e., hydraulic parameters and external load). The unknown parameters of EHS model are estimated by the parametric adaptive estimation law. Then the recursive backstepping controller is designed by Lyapunov technique to realize the displacement control of EHS. To avoid explosion of virtual control in traditional backstepping, a decayed memory filter is presented to re-estimate the virtual control and the dynamic external load. The effectiveness of the proposed controller has been demonstrated by comparison with the controller without adaptive and filter estimation. The comparative experimental results in critical working conditions indicate the proposed approach can achieve better dynamic performance on the motion control of Two-DOF robotic arm.

  20. Control method and system for hydraulic machines employing a dynamic joint motion model

    Science.gov (United States)

    Danko, George

    2011-11-22

    A control method and system for controlling a hydraulically actuated mechanical arm to perform a task, the mechanical arm optionally being a hydraulically actuated excavator arm. The method can include determining a dynamic model of the motion of the hydraulic arm for each hydraulic arm link by relating the input signal vector for each respective link to the output signal vector for the same link. Also the method can include determining an error signal for each link as the weighted sum of the differences between a measured position and a reference position and between the time derivatives of the measured position and the time derivatives of the reference position for each respective link. The weights used in the determination of the error signal can be determined from the constant coefficients of the dynamic model. The error signal can be applied in a closed negative feedback control loop to diminish or eliminate the error signal for each respective link.

  1. Continuous rotary motor electro-hydraulic servo system based on the improved repetitive controller

    Institute of Scientific and Technical Information of China (English)

    WANG Xiao-jing; JIANG ji-hai; LI Shang-yi

    2010-01-01

    In order to suppress the periodic interference of the continuous rotary electro-hydraulic servo motor,this paper makes the motor tracking the periodic signals with high accuracy,and improves the influence of friction interference to the performance of continuous rotary electro-hydraulic servo motor.The mathematic model of the electro-hydraulic position servo system of the continuous rotary motor was established,and the compound control method was adopted based on the repetitive control,feed forward and PID to suppress the friction interference.Through the simulation,the result confirms that the compound control method decreases the tracking error of the system,increases the robust performance of the system and improves the performance of the continuous rotary electro-hydraulic servo motor.

  2. PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System

    Institute of Scientific and Technical Information of China (English)

    Karam M. Eibayomy; Jiao Zongxia; Zhang Huaqing

    2008-01-01

    A proportional integral derivative (PID) controller is designed and attached to electro-hydraulic servo actuator system (EHSAS) to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters areoptimized by the genetic algorithm (GA). The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller.

  3. Wheel slide protection control using a command map and Smith predictor for the pneumatic brake system of a railway vehicle

    Science.gov (United States)

    Lee, Nam-Jin; Kang, Chul-Goo

    2016-10-01

    In railway vehicles, excessive sliding or wheel locking can occur while braking because of a temporarily degraded adhesion between the wheel and the rail caused by the contaminated or wet surface of the rail. It can damage the wheel tread and affect the performance of the brake system and the safety of the railway vehicle. To safeguard the wheelset from these phenomena, almost all railway vehicles are equipped with wheel slide protection (WSP) systems. In this study, a new WSP algorithm is proposed. The features of the proposed algorithm are the use of the target sliding speed, the determination of a command for WSP valves using command maps, and compensation for the time delay in pneumatic brake systems using the Smith predictor. The proposed WSP algorithm was verified using experiments with a hardware-in-the-loop simulation system including the hardware of the pneumatic brake system.

  4. 14 CFR 27.735 - Brakes.

    Science.gov (United States)

    2010-01-01

    ... STANDARDS: NORMAL CATEGORY ROTORCRAFT Design and Construction Landing Gear § 27.735 Brakes. For rotorcraft with wheel-type landing gear, a braking device must be installed that is— (a) Controllable by the pilot... torque when starting or stopping the rotor; and (2) Hold the rotorcraft parked on a 10-degree slope on...

  5. 14 CFR 29.735 - Brakes.

    Science.gov (United States)

    2010-01-01

    ... STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Design and Construction Landing Gear § 29.735 Brakes. For rotorcraft with wheel-type landing gear, a braking device must be installed that is— (a) Controllable by the... torque when starting or stopping the rotor; and (2) Hold the rotorcraft parked on a 10-degree slope on...

  6. 49 CFR 236.712 - Brake pipe.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Brake pipe. 236.712 Section 236.712 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF... OF SIGNAL AND TRAIN CONTROL SYSTEMS, DEVICES, AND APPLIANCES Definitions § 236.712 Brake pipe. A pipe...

  7. The depth and pitch control of submarines based on the pump-hydraulic servo

    Directory of Open Access Journals (Sweden)

    XU Chao

    2017-03-01

    Full Text Available This study aims to research submarine motion control features in different conditions and com-plex environments in order to solve the problem of actual submarine control and apply it to building an actu-al hydraulic control platform. The paper focuses on the vertical motion of submarines, designs a fast termi-nal sliding mode control algorithm and analyzes the data using the combined simulation and experiment method to study the robustness and reliability of a submarine's vertical motion control system for hydraulic and control. At the same time, the simulation and experiment results analyze the hysteresis and oscillation of the hydraulic steering gear, and effectively reduce the chattering that may be caused by sliding mode variable structure control. This system can be used in simulations to solve the problems of new submarine control characteristics.

  8. Tap Water Hydraulic Control Systems - Design and Industrial Applications. Chapter 7 in Advances in Hydraulic Control Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    Deals with development and design of modern tap water hydraulic components and systems, in particalar the Danfoss Nessie-family of components and systems working with pure tap water without any kind of additives. Typical industrial applications are presented and the perspectives of new industrial...

  9. HEAT TRANSIENT TRANSFER ANALYSIS OF BRAKE DISC /PAD SYSTEM

    OpenAIRE

    Thuppal Vedanta, Srivatsan; Kora, Naga Vamsi Krishna

    2016-01-01

    Braking is mainly controlled by the engine. Friction between a pair of pads and a rotating disc converts the kinetic energy of the vehicle into heat. High temperatures can be reached in the system which can be detrimental for both, components and passenger safety. Numerical techniques help simulate load cases and compute the temperatures field in brake disc and brake pads. The present work implements a Finite Element (FE) toolbox in Matlab/Simulink able to simulate different braking manoeuvre...

  10. Method study on fuzzy-PID adaptive control of electric-hydraulic hitch system

    Science.gov (United States)

    Li, Mingsheng; Wang, Liubu; Liu, Jian; Ye, Jin

    2017-03-01

    In this paper, fuzzy-PID adaptive control method is applied to the control of tractor electric-hydraulic hitch system. According to the characteristics of the system, a fuzzy-PID adaptive controller is designed and the electric-hydraulic hitch system model is established. Traction control and position control performance simulation are carried out with the common PID control method. A field test rig was set up to test the electric-hydraulic hitch system. The test results showed that, after the fuzzy-PID adaptive control is adopted, when the tillage depth steps from 0.1m to 0.3m, the system transition process time is 4s, without overshoot, and when the tractive force steps from 3000N to 7000N, the system transition process time is 5s, the system overshoot is 25%.

  11. An electro-hydraulic servo control system research for CFETR blanket RH

    Energy Technology Data Exchange (ETDEWEB)

    Chen, Changqi [Hefei University of Technology, Hefei 230009, Anhui (China); Tang, Hongjun, E-mail: taurustang@126.com [Hefei University of Technology, Hefei 230009, Anhui (China); Qi, Songsong [Hefei University of Technology, Hefei 230009, Anhui (China); Cheng, Yong; Feng, Hansheng; Peng, Xuebing; Song, Yuntao [Institute of Plasma Physics Chinese Academy of Sciences, Hefei 230031, Anhui (China)

    2014-11-15

    Highlights: • We discussed the conceptual design of CFETR blanket RH maintenance system. • The mathematical model of electro-hydraulic servo system was calculated. • A fuzzy adaptive PD controller was designed based on control theory and experience. • The co-simulation models of the system were established with AMESim/Simulink. • The fuzzy adaptive PD algorithm was designed as the core strategy of the system. - Abstract: Based on the technical design requirements of China Fusion Engineering Test Reactor (CFETR) blanket remote handling (RH) maintenance, this paper focus on the control method of achieving high synchronization accuracy of electro-hydraulic servo system. Based on fuzzy control theory and practical experience, a fuzzy adaptive proportional-derivative (PD) controller was designed. Then a more precise co-simulation model was established with AMESim/Simulink. Through the analysis of simulation results, a fuzzy adaptive PD control algorithm was designed as the core strategy of electro-hydraulic servo control system.

  12. System and method for controlling hydraulic pressure in electro-hydraulic valve actuation systems

    Energy Technology Data Exchange (ETDEWEB)

    Brennan, Daniel G; Marriott, Craig D; Cowgill, Joel; Wiles, Matthew A; Patton, Kenneth James

    2014-09-23

    A control system for an engine includes a first lift control module and a second lift control module. The first lift control module increases lift of M valves of the engine to a predetermined valve lift during a period before disabling or re-enabling N valves of the engine. The second lift control module decreases the lift of the M valves to a desired valve lift during a period after enabling or re-enabling the N valves of the engine, wherein N and M are integers greater than or equal to one.

  13. Dynamic simulation and optimal control strategy for a parallel hybrid hydraulic excavator

    Institute of Scientific and Technical Information of China (English)

    Xiao LIN; Shuang-xia PAN; Dong-yun WANG

    2008-01-01

    The primary focus of this study is to investigate the control strategies of a hybrid system used in hydraulic excavators. First, the structure and evaluation target of hybrid hydraulic excavators are analyzed. Then the dynamic system model including batteries, motor and engine is built as the simulation environment to obtain control results. A so-called multi-work-point dynamic control strategy, which has both closed-loop speed PI (proportion integral) control and direct torque control, is proposed and studied in the simulation model. Simulation results indicate that the hybrid system with this strategy can meet the power demand and achieve better system stability and higher fuel efficiency.

  14. The Development of an Optimal Control Strategy for a Series Hydraulic Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    Chih-Wei Hung

    2016-03-01

    Full Text Available In this work, a Truck Class II series hydraulic hybrid model is established. Dynamic Programming (DP methodology is applied to derive the optimal power-splitting factor for the hybrid system for preselected driving schedules. Implementable rules are derived by extracting the optimal trajectory features from a DP scheme. The system behaviors illustrate that the improved control strategy gives a highly effective operation region for the engine and high power density characteristics for the hydraulic components.

  15. Direct Drive Electro-hydraulic Servo Control System Design with Self-Tuning Fuzzy PID Controller

    Directory of Open Access Journals (Sweden)

    Wang Yeqin

    2013-06-01

    Full Text Available According to the nonlinear and time-varying uncertainty characteristics of direct drive electro-hydraulic servo control system, a self-tuning fuzzy PID control method with speed change integral and differential ahead optimizing operator is put forward by combining fuzzy inference and traditional PID control in this paper.The rule of fuzzy logic is designed, the membership function of the fuzzy subsets is determined and lookup table method is used to correcte the PID parameters in real-time. Finally the simulation is conducted with the typical input signal, such as tracking step, sine etc. The simulation results show that,the self-tuning fuzzy PID control system can effectively improve the dynamic characteristic when the system is out of the range of the operating point compared with the traditional PID control system, there is obvious improvement in the indexes of rapidity, stability and accuracy,  and fuzzy self-tuning PID Control is more robust, and more suitable for direct drive electro-hydraulic servo system.

  16. Parallel Control of Velocity Control and Energy-Saving Control for a Hydraulic Valve-Controlled Cylinder System Using Self-Organizing Fuzzy Sliding Mode Control

    Science.gov (United States)

    Chiang, Mao-Hsiung; Chien, Yu-Wei

    Conventional hydraulic valve-controlled systems that incorporate positive displacement pumps and relief valves have a problem of low energy efficiency. The objective of the research is to implement parallel control of energy-saving control in an electro-hydraulic load-sensing system and velocity control in a hydraulic valve-controlled cylinder system to achieve both high velocity control accuracy and low input power simultaneously. The overall control system is a two-input two-output system. For that, the control strategy of self-organizing fuzzy sliding mode control (SOFSMC) is developed in this study to reduce the fuzzy rule number and to self-organize on-line the fuzzy rules. To compare the energy-saving performance, the velocity control is implemented under three different energy-saving control systems, such as load-sensing control system, constant supply pressure control system and conventional hydraulic system. The parallel control of the velocity control and energy-saving control by the SOFSMC is implemented experimentally.

  17. Development and construction of a controlled rail brake for diesel and battery-powered trolleys; Entwicklung und Bau einer gesteuerten und / oder geregelten Schienenbremse fuer Diesel- und Batteriekatzen

    Energy Technology Data Exchange (ETDEWEB)

    Vogel, J. [Deutsche Montan Technologie GmbH, Bochum (Germany). Car Synergies Division

    2003-07-01

    A new rail brake system for diesel and battery-driven trolleys was developed which reduces the overall dynamics in case of emergency braking operations. Further, the new brake was to permit the use of DZ2000 trolleys on I 140 E rail systems with 12 brake clasps.

  18. 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.

  19. Power Balance Control in an AC/DC/AC Converter for Regenerative Braking in a Two-Voltage-Level Flywheel-Based Driveline

    Directory of Open Access Journals (Sweden)

    Janaína G. Oliveira

    2011-01-01

    Full Text Available The integration of a flywheel as a power handling can increase the energy storage capacity and reduce the number of battery charge/discharge cycles. Furthermore, the ability of recovering energy of the vehicle during breaking can increase the system efficiency. The flywheel-based all-electric driveline investigated here has its novelty in the use of a double-wound flywheel motor/generator, which divides the system in two different voltage levels, enhancing the efficiency of the electric driveline. The connection of two AC electrical machines (i.e., the flywheel and the wheel motor with different and variable operation frequency is challenging. A power matching control applied to an AC/DC/AC converter has been implemented. The AC/DC/AC converter regenerates the electric power converted during braking to the flywheel machine, used here as power handling device. By controlling the power balance, the same hardware can be used for acceleration and braking, providing the reduction of harmonics and robust response. A simulation of the complete system during braking mode has been performed both in Matlab and Simulink, and their results have been compared. The functionality of the proposed control has been shown and discussed, with full regeneration achieved. A round-trip efficiency (wheel to wheel higher than 80% has been obtained.

  20. Parameter Identification for the Valve Control Cylinder System of a Hydraulic Manipulator

    Institute of Scientific and Technical Information of China (English)

    XIE Qing-hua; PEI Wen-kai; JIANG Bin; ZHANG Qi

    2006-01-01

    In mechanical, hydraulic and electronic systems, the determination of system parameters is often challenging because liquid parameters often change significantly, due to variations in working and environmental conditions. Therefore, it is of significant practical importance to identify those parameters through experimental procedures. A systematic approach to identifying parameters in the valve controlling cylinder system of hydraulic manipulators is provided. It first derives the transfer function of the system, and then uses P control of PID control to predict system parameters. The predicted parameters are further validated using PID control. The prediction through simulation using MatLab language is utilized, which agrees well with experimental results.

  1. Braking performance of aircraft tires

    Science.gov (United States)

    Agrawal, Satish K.

    This paper brings under one cover the subject of aircraft braking performance and a variety of related phenomena that lead to aircraft hydroplaning, overruns, and loss of directional control. Complex processes involving tire deformation, tire slipping, and fluid pressures in the tire-runway contact area develop the friction forces for retarding the aircraft; this paper describes the physics of these processes. The paper reviews the past and present research efforts and concludes that the most effective way to combat the hazards associated with aircraft landings and takeoffs on contaminated runways is by measuring and displaying in realtime the braking performance parameters in the aircraft cockpit.

  2. 1st International Conference on Hydraulic Design in Water Resources Engineering : Channels and Channel Control Structures

    CERN Document Server

    1984-01-01

    The development of water resources has proceeded at an amazing speed around the world in the last few decades. The hydraulic engineer has played his part: in constructing much larger artificial channels than ever before, larger and more sophisticated control structures, and systems of irrigation, drainage and water supply channels in which the flow by its nature is complex and unsteady requiring computer-based techniques at both the design and operation stage. It seemed appropriate to look briefly at some of the developments in hydraulic design resulting from this situation. Hence the idea of the Conference was formed. The Proceedings of the Conference show that hydraulic engineers have been able to acquire a very substantial base of design capability from the experience of the period referred to. The most outstanding development to have occurred is in the combination of physical and mathematical modelling, which in hydraulic engineering has followed a parallel path to that in other branches of engineering sc...

  3. 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

    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 a st...

  4. 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

    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 a...

  5. Second order sliding control with state dependent gain and its application to a hydraulic drive

    DEFF Research Database (Denmark)

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

    2013-01-01

    The application of sliding modes for control of hydraulic drives appear promising due to strong robustness toward plant uncertainties and disturbances. Especially high order sliding modes may be successfully implemented avoiding the discontinuous control seen in first order sliding controls. Howe...

  6. Robust Adaptive Backstepping Control Design for a Nonlinear Hydraulic-Mechanical System

    DEFF Research Database (Denmark)

    Choux, Martin; Karimi, Hamid Reza; Hovland, Geir

    2009-01-01

    converge to zero despite the uncertainties in the system according to the Barbalat lemma. The resulting controllers are able to take into account the interval uncertainties in Coulomb friction parameters and in the internal leakage parameters in the cylinders. Two adaptation laws are obtained by using......The complex dynamics that characterize hydraulic systems make it difficult for the control design to achieve prescribed goals in an efficient manner. In this paper, we present the design and analysis of a robust nonlinear controller for a nonlinear hydraulic-mechanical (NHM) system. The system...... consists of an electrohydraulic servo valve and two hydraulic cylinders. Specifically, by considering a part of the dynamics of the NHM system as a norm-bounded uncertainty, two adaptive controllers are developed based on the backstepping technique that ensure the tracking error signals asymptotically...

  7. ELECTRO-HYDRAULIC COMPOUND CONTROL METHOD AND CHARACTERISTIC OF CONTROL FOR TENSION SYSTEM WITH HIGH INERTIA LOADS

    Institute of Scientific and Technical Information of China (English)

    ZHONG Tianyu; WANG Qingfeng; LI Yanmin; GONG Fangyou

    2006-01-01

    Based on the pressure regulation circuit adopting electro-hydraulic proportional relief valve to control tension, a new type of electro-hydraulic compound control circuit with throttle control unit is presented, which can obtain optimal dynamic damping ratio through real-time altering pressure-flow gain of the throttle control unit, improve the dynamic characteristic of tension follow-up control for the tension system with high inertia loads. Moreover, the characteristic when the cable linear velocity variation causes change of tension is investigated, and a compound control strategy is proposed. The theoretical analysis and experimental results show that the electro-hydraulic compound control circuit is effective and the characteristic of the compound control strategy is satisfactory.

  8. 49 CFR 232.103 - General requirements for all train brake systems.

    Science.gov (United States)

    2010-10-01

    ... pneumatic technology, the integrity of the train line shall be monitored by the brake control system. (c) A... straight air brake 30-50 (7) Self-lapping portion for electro-pneumatic brake (minimum full application... 49 Transportation 4 2010-10-01 2010-10-01 false General requirements for all train brake...

  9. High precise control method for a new type of piezoelectric electro-hydraulic servo valve

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A new type of piezoelectric electro-hydraulic servo valve system was proposed. And then multilayer piezoelectric actuator based on new piezoelectric ceramic material was used as the electricity-machine converter of the proposed piezoelectric electro-hydraulic servo valve. The proposed piezoelectric electro-hydraulic servo valve has ascendant performance compared with conventional ones. But the system is of high nonlinearity and uncertainty, it cannot achieve favorable control performance by conventional control method. To develop an efficient way to control piezoelectric electro-hydraulic servo valve system, a high-precise fuzzy control method with hysteresis nonlinear model in feedforward loop was proposed. The control method is separated into two parts: a feedforward loop with Preisach hysteresis nonlinear model and a feedback loop with high-precise fuzzy control. Experimental results show that the hysteresis loop and the maximum output hysteresis by the PID control method are 4.22%and 2.11 μm, respectively; the hysteresis loop and the maximum output hysteresis by the proposed control method respectively are 0.74% and 0.37 μm, respectively; the maximum tracking error by the PID control method for sine wave reference signal is about 5.02%, the maximum tracking error by the proposed control method for sine wave reference signal is about 0.85%.

  10. 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.

  11. Analysis of load transfer stability control strategy in hydraulic synchronized continuous slippage

    Institute of Scientific and Technical Information of China (English)

    LIU Yan-bo; WU Jian-zhong; ZHANG Xuan

    2006-01-01

    Hydraulic synchronized continuous slippage technique,which integrates mechanical,electrical and hydraulic control,is introduced in this paper for the practical requirements of some construction projects.The core of this technique (the stability of the load transfer) is illustrated in detail.Three speed control strategies to transfer the load-excessive,lower and same speed-are presented to accomplish the smoothness and stability in the process of slippage.An optimization of the speed control strategy (same speed) is deduced from the modeling analysis and its validity and maneuverability are tested by practical application,which provides evidence for similar engineering in theory and practice.

  12. CONSTANT WORK-POINT CONTROL FOR PARALLEL HYBRID SYSTEM WITH CAPACITOR ACCUMULATOR IN HYDRAULIC EXCAVATOR

    Institute of Scientific and Technical Information of China (English)

    ZHANG Yanting; WANG Qingfeng; XIAO Qing; FU Qiang

    2006-01-01

    Limitations of various accumulators in hybrid hydraulic excavator are analyzed. A program using capacitor as the accumulator based on constant work-point control is put forward. A simulating experimental system of hybrid construction machinery is established, and experimental study on constant work-point control for parallel hybrid system with capacitor accumulator is carried out using the pressure and flow rate derived from boom cylinder of hydraulic excavator in actual work as the simulating loads. A program of double work-point control is proposed and proved by further experiments.

  13. Evidence for internal hydraulic control in the northern Øresund

    DEFF Research Database (Denmark)

    Nielsen, Morten Holtegaard

    2001-01-01

    are a contraction in the northern Oslashresund and the shallow Drogden sill at the entrance to the Baltic. The observations show that the two-layer flows through the contraction are often hydraulically controlled. The observations also reveal details of the transition from subcritical to supercritical flow....... In terms of the composite Froude number, on the basis of local flow parameters these details are that the flow may be subcritical as well as supercritical in different areas of some cross section. Existing theories on rotating hydraulics are unable to account for these circumstances, which are due...... to the strong influence of the Earth's rotation and the curvature of the streamlines. In the present study it is not attempted to explain these conditions, but the probable effects of rotation and curvature on the controlled flow rate are discussed briefly. Also, the possible effects of hydraulic control...

  14. 汽车车内制动噪声主动控制%Active Noise Control of Automotive Interior Braking Noise

    Institute of Scientific and Technical Information of China (English)

    冯天培; 孙跃东; 王岩松; 刘宁宁

    2016-01-01

    Low-frequency components of braking noise usually dominate the internal noise for some kinds of automobiles. Since the low-frequency noise has high energy, the strong interior noise will reduce the comfort for the passengers. In this paper, the braking noises at the driver’s ears in three different cars travelling at 60km/h in emergency braking were collected and analyzed in time-frequency domain. Results of analysis agreed well with the real ride-perception in a testing car. Then, the active braking noise control simulation using adaptive LMS algorithm was implemented. The results show that the low-frequency noise, especially in the range of 20 Hz-50 Hz, is greatly eliminated.%部分汽车制动时的车内噪声以低频成分占主导。低频噪声能量大,车内较强的低频制动噪声会给乘员带来不舒适的乘坐感受,降低车辆的乘坐舒适性。采集三辆轿车车内60 km/h紧急制动时司机位双耳处噪声信号并进行时-频域分析,分析结果与实车试验乘坐感受一致,接着运用低频噪声消噪效果较好的主动噪声控制方法,结合自适应LMS算法对样本信号进行消噪仿真实验,制动噪声低频部分得到较大的抑制,特别是在20 Hz~50 Hz低频带内,噪声能量衰减明显。

  15. Adaptive impedance control of a hydraulic suspension system using particle swarm optimisation

    Science.gov (United States)

    Fateh, Mohammad Mehdi; Moradi Zirkohi, Majid

    2011-12-01

    This paper presents a novel active control approach for a hydraulic suspension system subject to road disturbances. A novel impedance model is used as a model reference in a particular robust adaptive control which is applied for the first time to the hydraulic suspension system. A scheme is introduced for selecting the impedance parameters. The impedance model prescribes a desired behaviour of the active suspension system in a wide range of different road conditions. Moreover, performance of the control system is improved by applying a particle swarm optimisation algorithm for optimising control design parameters. Design of the control system consists of two interior loops. The inner loop is a force control of the hydraulic actuator, while the outer loop is a robust model reference adaptive control (MRAC). This type of MRAC has been applied for uncertain linear systems. As another novelty, despite nonlinearity of the hydraulic actuator, the suspension system and the force loop together are presented as an uncertain linear system to the MRAC. The proposed control method is simulated on a quarter-car model. Simulation results show effectiveness of the method.

  16. Thermal-Hydraulic Analysis Tasks for ANAV NPPs in Support of Plant Operation and Control

    Directory of Open Access Journals (Sweden)

    F. Reventós

    2008-01-01

    Full Text Available Thermal-hydraulic analysis tasks aimed at supporting plant operation and control of nuclear power plants are an important issue for the Asociación Nuclear Ascó-Vandellòs (ANAV. ANAV is the consortium that runs the Ascó power plants (2 units and the Vandellòs-II power plant. The reactors are Westinghouse-design, 3-loop PWRs with an approximate electrical power of 1000 MW. The Technical University of Catalonia (UPC thermal-hydraulic analysis team has jointly worked together with ANAV engineers at different levels in the analysis and improvement of these reactors. This article is an illustration of the usefulness of computational analysis for operational support. The contents presented were operational between 1985 and 2001 and subsequently changed slightly following various organizational adjustments. The paper has two different parts. In the first part, it describes the specific aspects of thermal-hydraulic analysis tasks related to operation and control and, in the second part, it briefly presents the results of three examples of analyses that were performed. All the presented examples are related to actual situations in which the scenarios were studied by analysts using thermal-hydraulic codes and prepared nodalizations. The paper also includes a qualitative evaluation of the benefits obtained by ANAV through thermal-hydraulic analyses aimed at supporting operation and plant control.

  17. Dynamic extending nonlinear H∞ control and its application to hydraulic turbine governor

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    There exists a large class of nonlinear systems with uncertainties, such as hydraulic turbine governors, whose robust control problem is hard to solve by means of the existing robust control approaches. For this class of systems, this work presents a dynamic extending H∞ controller via both differential geometry and H∞ theory. Furthermore, based on differential game theory, it has been verified that the proposed control strategy has robustness in the sense that the disturbance can be attenuated effectively because the L2-gain from the disturbance input to the regulation output signal could be reduced to any given level. Thirdly, a robust control strategy for hydraulic turbine governor is designed according to the proposed extending H∞ control method, and has been developed into a real control equipment. Finally the field experiments are carried out which show clearly that the developed control equipment can enhance transient stability of power systems more effectively than the conventional controller.

  18. 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.

  19. Improvement of Brake System of XJ-650 Workover Rig%XJ-650型修井机绞车制动系统改进

    Institute of Scientific and Technical Information of China (English)

    赵有清

    2015-01-01

    The working principle of hydraulic disc brake system of the hydraulic disc brake system is described in this paper.The problem of the existence of the pneumatic control belt brake for the XJ-650 type of the well is put forward.The hydraulic disc brake system of the workover rig is a-dapted for technological reformation,which is suitable for workover operation in deep and com-plex well conditions,and the construction of the labor intensity is decreased,security is obviously enhanced.%简述了修井机液压盘式刹车系统的工作原理。指出现有 XJ-650型修井机的气控带式刹车存在的问题。采用液压盘式刹车系统对该修井机进行技术改造,适应深井、复杂工况井等修井作业要求,并且使施工的劳动强度下降,安全性明显增强。

  20. Pressure Control for a Hydraulic Cylinder Based on a Self-Tuning PID Controller Optimized by a Hybrid Optimization Algorithm

    Directory of Open Access Journals (Sweden)

    Ru Wang

    2017-01-01

    Full Text Available In order to improve the performance of the hydraulic support electro-hydraulic control system test platform, a self-tuning proportion integration differentiation (PID controller is proposed to imitate the actual pressure of the hydraulic support. To avoid the premature convergence and to improve the convergence velocity for tuning PID parameters, the PID controller is optimized with a hybrid optimization algorithm integrated with the particle swarm algorithm (PSO and genetic algorithm (GA. A selection probability and an adaptive cross probability are introduced into the PSO to enhance the diversity of particles. The proportional overflow valve is installed to control the pressure of the pillar cylinder. The data of the control voltage of the proportional relief valve amplifier and pillar pressure are collected to acquire the system transfer function. Several simulations with different methods are performed on the hydraulic cylinder pressure system. The results demonstrate that the hybrid algorithm for a PID controller has comparatively better global search ability and faster convergence velocity on the pressure control of the hydraulic cylinder. Finally, an experiment is conducted to verify the validity of the proposed method.

  1. Position Control of an Over‐Actuated Direct Hydraulic Cylinder Drive

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Grønkjær, Morten; Pedersen, Henrik Clemmensen

    2017-01-01

    This paper considers the analysis and control strategy for a novel direct hydraulic cylinder drive, that is overactuated in the sense that it has more inputs than sensible outputs. Efforts to overcome the inherent loss of energy due to th+rottling in valve driven hydraulic drives are many......, and various approaches have been proposed by research communities as well as the industry. Recently, a so-called Speed-variable Switched Differential Pump was proposed for direct drive of hydraulic differential cylinders. The main idea with this drive is to utilize an electric rotary drive with the shaft...... the ability to bleed off flow from the transmission lines to achieve reasonable pressure levels. This design renders the drive over-actuated as the line pressures and the cylinder piston motion cannot be controlled independently, due to the pressure difference being motion generating. In order to achieve...

  2. Research of Braking Energy Recovery Control Algorithm Based on Single Wheel Bench%基于单轮台架制动能量回收控制算法的研究

    Institute of Scientific and Technical Information of China (English)

    刘喜明; 孙仁云; 张霞

    2011-01-01

    Electric vehicle can provide a good braking performance under braking,while energy recovery can be guaranteed is an important feature for the electric vehicle control system.We propose a control algorithm which takes single-wheel ABS brake in our laboratory as the prototype bench,which can allocate the relationship between the braking force and the electronic brake force properly,and meanwhile,the braking energy recovery is also considered when the electric vehicle is under braking.It can make the electric vehicle has a good economic fitness in the premise of getting a safety brake,which has an important practical significance to extend driving range of electric vehicles.%电动汽车在制动情况下提供一个良好制动性能的同时保证其能进行能量回收是电动汽车能量回收控制系统的一个重要特性。针对此特性,以本实验室的单轮ABS制动台架为原型,提出了一套控制算法,不仅合理地分配了制动器制动力和电机制动力之间的关系,而且顾及到了制动时进行制动能量回收的问题,使得电动汽车在获得制动安全性的前提下有一个良好的经济适用性,这对延长电动汽车的续驶里程有着重要的实际意义。

  3. ISG混合动力汽车制动力动态协调控制策略研究%The Research On Braking Force Dynamic Coordinated Control Strategy of ISG Hybrid Electric Vehicle

    Institute of Scientific and Technical Information of China (English)

    李清纯; 颜景斌; 王旭东

    2011-01-01

    The essay analyzes the energy feedback the insufficient of efficiency feedback for braking process in hybrid electric vehicle. With ISG technology of medium hybrid cars as platform, through the analysis of front and rear wheels of hybrid car brake force distribution and frictional braking force and regenerative braking force distribution, dynamic coordination regenerative braking control strategy model, which is based on the safety and efficient braking energy recovery is established. It simulated analysis and correction on different conditions. Simulation results show that compared with the original traditional model, the dynamic braking force coordination control strategies improves the efficiency of the braking energy recovery.%本文针对混合动力汽车的制动过程能量回馈效率不足进行分析.以ISG技术的中度混合动力汽车为平台,通过分析混合动力汽车前、后轮制动力分配以及摩擦制动力和再生制动力的合理分配,建立了基于制动安全性和高效制动能量回收的动态协调再生制动控制策略模型,并在不同的路况下进行仿真分析和修正.仿真结果表明,制动力动态协调控制策略与原有传统模型相比提高了制动能量回收的效率.

  4. 地铁微机控制直通电空制动系统研究%Research on Direct Acting Electro-pneumatic Braking System with Microcomputer Control of Metro

    Institute of Scientific and Technical Information of China (English)

    杨丰萍; 陈振华; 李玉庆

    2014-01-01

    介绍了地铁车辆微机控制直通电空制动系统的组成、制动模式和防滑控制功能。着重研究了制动过程中制动力计算与分配及不同阶段的制动响应。研究结果可为微机控制直通电空制动系统在性能检测试验台研制及我国地铁车辆应用检修中提供帮助。%This paper discusses the structure, braking mode and anti-skid control of direct acting electro-pneumat-ic braking system with microcomputer control. It mainly researches the braking force calculation, distribution, and the braking response at different stages in braking process. The results may provide some reference for test bench development of direct acting electro-pneumatic braking system and practical repairing of metro vehicles.

  5. 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 ch...... subjected to strong perturbations in supply pressure and coulomb friction force, and that tracking accuracy may be reduced to the level of noise. Furthermore, the proposed controller tolerates signicant noise levels, while still remaining stable and accurate....

  6. Muzzle brakes and their performance

    Directory of Open Access Journals (Sweden)

    J. P. Sirpal

    1958-01-01

    Full Text Available A criteria for the usefulness of a muzzle brake on any equipment is discussed and applied to existing weapons. Efficiencies of the existing muzzle brakes are also calculated. Design considerations for a muzzle brake are summarized.

  7. Research on coordinated control of brake regenerative efficiency and pedal feel for electric cars%电动轿车制动能量回收效率与踏板感觉协调控制研究

    Institute of Scientific and Technical Information of China (English)

    苟晋芳; 王丽芳; 廖承林

    2013-01-01

    The maximum regenerative efficiency strategy, the best brake pedal feel strategy and the strategy taking into account both regenerative efficiency and brake pedal feel are studied for energy recovery efficiency and brake pedal feel. The electro-hydraulic coordination preparation stage is selected as the characteristic stage for evaluating energy recovery efficiency. The electro-hydraulic coordination stage is selected for evaluating brake pedal feel. Moreover Flucped is defined to measure the fluctuation degree of the brake pedal. These three strategies are tested in an electric car. The results show that in the maximum regenerative efficiency strategy the car has the highest regenerative efficiency but the worst brake pedal feel, while in the best brake pedal feel strategy the lowest regenerative efficiency but the best brake pedal feel. The strategy taking into account both the regenerative efficiency and the brake pedal feel brings the car a good brake pedal feel. Furthermore it improves the regenerative efficiency by nearly 9.42% than the best brake pedal feel strategy.%围绕能量回收效率和制动踏板感觉,对最大回馈效率制动力分配策略、最佳制动踏板感觉制动力分配策略以及兼顾回馈效率和制动踏板感觉的制动力分配策略展开研究.按电机回馈制动力与液压制动力协调方式的不同将制动过程分为电液协调准备阶段、电液协调控制阶段和回馈制动撤除阶段.分别选取电液协调准备阶段和电液协调控制阶段作为评价能量回收效率和制动踏板感觉的特征工况段,并定义制动踏板感觉波动度来度量制动踏板感觉的波动程度.实车试验结果表明最大回馈效率策略的制动能量回收效率最高,但制动踏板感觉较差;最佳踏板感觉策略的制动踏板感觉最好,但能量回收效率最低;回馈效率和踏板感觉兼顾策略的踏板感觉良好,且相比最佳踏板感觉策略而言,将制

  8. Digging Soil Experiments for Micro Hydraulic Excavators based on Model Predictive Tracking Control

    Science.gov (United States)

    Tomatsu, Takumi; Nonaka, Kenichiro; Sekiguchi, Kazuma; Suzuki, Katsumasa

    2016-09-01

    Recently, the increase of burden to operators and lack of skilled operators are the issue in the work of the hydraulic excavator. These problems are expected to be improved by autonomous control. In this paper, we present experimental results of hydraulic excavators using model predictive control (MPC) which incorporates servo mechanism. MPC optimizes digging operations by the optimal control input which is calculated by predicting the future states and satisfying the constraints. However, it is difficult for MPC to cope with the reaction force from soil when a hydraulic excavator performs excavation. Servo mechanism suppresses the influence of the constant disturbance using the error integration. However, the bucket tip deviates from a specified shape by the sudden change of the disturbance. We can expect that the tracking performance is improved by combining MPC and servo mechanism. Path-tracking controls of the bucket tip are performed using the optimal control input. We apply the proposed method to the Komatsu- made micro hydraulic excavator PC01 by experiments. We show the effectiveness of the proposed method through the experiment of digging soil by comparing servo mechanism and pure MPC with the proposed method.

  9. Coupled-disturbance-observer-based position tracking control for a cascade electro-hydraulic system.

    Science.gov (United States)

    Guo, Qing; Yin, Jing-Min; Yu, Tian; Jiang, Dan

    2017-05-01

    The disturbance suppression is one of the most common control problems in electro-hydraulic systems. especially largely an unknown disturbance often obviously degrades the dynamic performance by biasing the desired actuator outputs (e.g., load forces or torques). In order to reject the dynamic disturbances in some multi-degree-of-freedom manipulators driven by electro-hydraulic actuators, this paper proposes a state feedback control of the cascade electro-hydraulic system based on a coupled disturbance observer with backstepping. The coupled disturbance observer is designed to estimate both the independent element and the coupled element of the external loads on each electro-hydraulic actuator. The cascade controller has the ability to compensate for the disturbance estimating, as well as guarantees the system state error convergence to a prescribed steady state level. The effectiveness of the proposed controller for the suppression of largely unknown disturbances has been demonstrated by comparative study, which implies the proposed approach can achieve better dynamic performance on the motion control of Two-Degree-of-Freedom robotic arm. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  10. Force Control Strategies in Hydraulically Actuated Legged Robots

    Directory of Open Access Journals (Sweden)

    Hector Montes

    2016-03-01

    Full Text Available In this contribution, several strategies of force control have been proposed to be implemented and evaluated in ROBOCLIMBER, a quadruped robot of large dimensions. A first group of strategies proposed in this paper is based on impedance control, which is intended to adapt the foot-ground contact forces according to the experimentally specified damping ratio and the undamped natural frequency. A second control strategy of interest for many practical cases is called the parallel force/position control, which has one inner loop position control and two external control loops, one of force and another of position. A third group of control strategies is the posture stabilization for ROBOCLIMBER using the feedback of the ZMP calculation and the position of its legs. Finally, a control strategy for the control of a quasi-static gait using ZMP feedback is proposed and tested by simulation.

  11. Thermal-Hydraulic Analysis Tasks for ANAV NPPs in Support of Plant Operation and Control

    OpenAIRE

    2007-01-01

    Thermal-hydraulic analysis tasks aimed at supporting plant operation and control of nuclear power plants are an important issue for the Asociación Nuclear Ascó-Vandellòs (ANAV). ANAV is the consortium that runs the Ascó power plants (2 units) and the Vandellòs-II power plant. The reactors are Westinghouse-design, 3-loop PWRs with an approximate electrical power of 1000 MW. The Technical University of Catalonia (UPC) thermal-hydraulic analysis team has jointly worked togeth...

  12. Experimental System Identification and Black Box Modeling of Hydraulic Directional Control Valve

    Directory of Open Access Journals (Sweden)

    Sondre Sanden Tørdal

    2015-10-01

    Full Text Available Directional control valves play a large role in most hydraulic systems. When modeling the hydraulic systems, it is important that both the steady state and dynamic characteristics of the valves are modeled correctly to reproduce the dynamic characteristics of the entire system. In this paper, a proportional valve (Brevini HPV 41 is investigated to identify its dynamic and steady state characteristics. The steady state characteristics are identified by experimental flow curves. The dynamics are determined through frequency response analysis and identified using several transfer functions. The paper also presents a simulation model of the valve describing both steady state and dynamic characteristics. The simulation results are verified through several experiments.

  13. Modeling and control of a hydraulically actuated flexible-prismatic link robot

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-12-01

    Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.

  14. Control Strategy on Plug-in Hybrid Electric Vehicle Regenerative Braking%插电式混合动力汽车再生制动控制策略

    Institute of Scientific and Technical Information of China (English)

    刘闪闪; 韩震; 业德明; 乔曌

    2012-01-01

    Regenerative braking control strategy directly influenced fuel economy of Plug-in hybrid electric vehicles. A style of a control strategy based on ideal braking force is proposed in this paper. This strategy can ensure braking stability, at the meantime reclaim the braking energy as much as possible. And the control strategy model of regenerative brake system is built based on Simulink. The control strategy model is imbedded in Cruise and simulated. The simulation results show that compared with PHEV with no braking energy recovery and traditional vehicles fuel economy is improved and the control strategy of regenerative braking system are proved to be appropriate.%由于再生制动控制策略直接影响了插电式混合动力汽车(PHEV)的经济性,文章提出了一种基于理想制动力分配的再生制动控制策略,这种策略能在保证制动稳定性的同时,尽可能多地回收制动能量,在Simulink平台上建立再生制动控制策略模型,并嵌入到Cruise软件中进行仿真。仿真结果表明,此模型相比没有制动能量回收的PHEV和传统汽车,都有效地提高了经济性,验证了再生制动控制策略的合理性。

  15. Backstepping Adaptive Controller of Electro-Hydraulic Servo System of Continuous Rotary Motor

    Institute of Scientific and Technical Information of China (English)

    XiaoJing Wang; ChangFu Xian; CaoLei Wan; JinBao Zhao; LiWei Xiu; AnCai Yu

    2014-01-01

    In order to consider the influence of the continuous rotary motor electro-hydraulic servo system parameters change on its performance, the design method of backstepping adaptive controller is put forward. The mathematical model of electro-hydraulic servo system of continuous rotary motor is established, and the whole system is decomposed into several lower order subsystems, and the virtual control signal is designed for each subsystem from the final subsystem with motor angular displacement to the subsystem with system control input voltage. Based on Lyapunov method and the backstepping theory, an adaptive backstepping controller is designed with the changed parameters adaptive law. It is proved that the system reaches the global asymptotic stability, and the system tracking error asymptotically tends to zero. The simulation results show that the backstepping adaptive controller based on the adaptive law of the changed parameters can improve the performance of continuous rotary motor, and the proposed control strategy is feasible.

  16. Wind tunnel experiments to prove a hydraulic passive torque control concept for variable speed wind turbines

    NARCIS (Netherlands)

    Diepeveen, N.F.B.; Jarquin-Laguna, A.

    2014-01-01

    In this paper the results are presented of experiments to prove an innovative concept for passive torque control of variable speed wind turbines using fluid power technology. It is demonstrated that by correctly configuring the hydraulic drive train, the wind turbine rotor operates at or near maximu

  17. Wind tunnel experiments to prove a hydraulic passive torque control concept for variable speed wind turbines

    NARCIS (Netherlands)

    Diepeveen, N.F.B.; Jarquin-Laguna, A.

    2014-01-01

    In this paper the results are presented of experiments to prove an innovative concept for passive torque control of variable speed wind turbines using fluid power technology. It is demonstrated that by correctly configuring the hydraulic drive train, the wind turbine rotor operates at or near maximu

  18. Cascade Controller Including Back-stepping for Hydraulic-Mechanical Systems

    DEFF Research Database (Denmark)

    Choux, Martin; Hovland, Geir; Blanke, Mogens

    2012-01-01

    Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adapt...

  19. An Analytic Approach to Cascade Control Design for Hydraulic Valve-Cylinder Drives

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Hansen, Anders Hedegaard; Andersen, Torben O.

    2016-01-01

    control and possibly linear active damping functionalities. However difficulties often arise due to the inherent and strong nonlinear nature of hydraulic drives, with the more dominant being nonlinear valve flow- and oil stiffness characteristics, and furthermore the volume expansion/retraction when...

  20. HYBRID FUZZY CONTROL FOR ELECTRO-HYDRAULIC ACTIVE DAMPING SUSPENSION

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    A new control scheme, the hybrid fuzzy control method, for active damping suspension system is presented. The scheme is the result of effective combination of the statistical optimal control method based on the statistical property of suspension system, with the bang-bang control method based on the real-time characteristics of suspension system. Computer simulations are performed to compare the effectiveness of hybrid fuzzy control scheme with that of optimal damping control, bang-bang control, and passive suspension. It takes the effects of time-variant factors into full account. The superiority of the proposed hybrid fuzzy control scheme for active damping suspension to the passive suspension is verified in the experiment study.

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

    Institute of Scientific and Technical Information of China (English)

    Han Songshan; Jiao Zongxia; Wang Chengwen; Shang Yaoxing

    2015-01-01

    A fuzzy robust nonlinear controller for hydraulic rotary actuators in flight motion sim-ulators 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 simula-tors. 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 decom-position 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 control-ler theoretically can guarantee asymptotic tracking performance in the presence of the above uncer-tainties, 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.

  2. Mode-2 hydraulic control of flow over a small ridge on a continental shelf

    Science.gov (United States)

    Gregg, M. C.; Klymak, Jody M.

    2014-11-01

    Some of the most intense turbulence in the ocean occurs in hydraulic jumps formed in the lee of sills where flows are hydraulically controlled, usually by the first internal mode. Observations on the outer Texas-Louisiana continental shelf reveal hydraulic control of internal mode-2 lasting more than 3 h over a 20 m high ridge on the 100 m deep continental shelf. When control began the base of the weakly stratified surface layer bulged upward and downward, a signature of mode-2. As the westward flow producing control was lost, large-amplitude disturbances, initially resembling a bore in the weakly stratified layer, began propagating eastward. Average dissipation rates inferred from density inversions over the ridge were 10-8 and 10-7W kg-1, one to two decades above local background. Corresponding diapycnal diffusivities, Kρ, were 10-4 to 10-3 m2 s-1. Short-term mixing averages did not evolve systematically with hydraulic control, possibly owing to our inability to observe small overturns in strongly stratified water directly over the ridge. To test the feasibility of our interpretation of the observations, hydrostatic runs with a three-dimensional MITgcm simulated mode-2 control and intense mixing over the ridge below the interface. Details differed from observations, principally because we lacked three-dimensional density fields to initialize the model which was forced with currents observed by a bottom-mounted ADCP several kilometers east of the ridge. Consequently, the model did not capture all flow features around the bank. The principal conclusion is that hydraulic responses to higher modes can dominate flows around even modest bathymetric irregularities.

  3. WORKING LIQUID PRESSURE AND ITS CONTROL IN HYDRAULIC DRAWING PROCESSES OF CUPS

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    A method of setting up a pressure-stroke characteristic of the working liquid in hydraulic drawing is studied. A pressure-stroke characteristic and software for controlling its forming process are also developed. And a set of pressure controlling devices with PLC as a central processor are designed. It can be got from the relevant experiments that the pressure-stroke characteristic is correct and its control for forming process is available.

  4. 气压式电子驻车制动电磁阀控制特性%Characteristics of solenoid valve in electronic parking brake system control

    Institute of Scientific and Technical Information of China (English)

    黄涤; 王洪亮; 皮大伟; 石秉良; 李楠

    2016-01-01

    In order to realize the automatic control of a pneumatic parking brake system,the charging and discharging characteristics of the parking control valves and its control method is studied. Analysing the structure and working principle of a heavy duty car parking brake system,this paper designs an overall scheme of the pneumatic electronic parking brake system. The mechanical properties of the spring brake cylinder is analyzed. The charging and discharging characteristics of the electromagnetic valve is studied and compared with the traditional manual valve. The control method of the pulse width modulation( PWM) is analyzed. The relationship between the inflation rate and the PWM duty ratio of the control valve is studied. The experimental results show that the solenoid valve can preserve pressure according to the demand and can adjust the aeration rate of the solenoid valve by changing the PWM signal duty ratio.%为实现气压式驻车制动系统的自动控制,研究了驻车控制阀的充放气特性及控制方法.通过分析重型车驻车制动系统的结构及工作原理,设计了气压式电子驻车制动系统的总体方案. 分析了弹簧制动缸的力学性能,对电磁阀的快速充放气特性进行了研究,并与传统手动阀做了比较. 分析了脉冲宽度调制( Pulse width modulation,PWM)的控制方法,研究了驻车制动系统控制阀在PWM控制下占空比与充气速率的关系. 实验结果证明电磁阀可按需求保压并且可通过改变PWM信号占空比调节电磁阀充气速率.

  5. Excitation Method of Linear-Motor-Type Rail Brake without Using Power Sources by Dynamic Braking with Zero Electrical Output

    Science.gov (United States)

    Sakamoto, Yasuaki; Kashiwagi, Takayuki; Hasegawa, Hitoshi; Sasakawa, Takashi; Fujii, Nobuo

    The eddy current rail brake is a type of braking system used in railway vehicles. Because of problems such as rail heating and problems associated with ensuring that power is supplied when the feeder malfunctions, this braking system has not been used for practical applications in Japan. Therefore, we proposed the use of linear induction motor (LIM) technology in eddy current rail brake systems. The LIM rail brake driven by dynamic braking can reduce rail heating and generate the energy required for self-excitation. In this paper, we present an excitation system and control method for the LIM rail brake driven by “dynamic braking with zero electrical output”. The proposed system is based on the concept that the LIM rail brake can be energized without using excitation power sources such as a feeder circuit and that high reliability can be realized by providing an independent excitation system. We have studied this system and conducted verification tests using a prototype LIM rail brake on a roller rig. The results show that the system performance is adequate for commercializing the proposed system, in which the LIM rail brake is driven without using any excitation power source.

  6. 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.

  7. Position Control of an Over‐Actuated Direct Hydraulic Cylinder Drive

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Grønkjær, Morten; Pedersen, Henrik Clemmensen

    2017-01-01

    This paper considers the analysis and control strategy for a novel direct hydraulic cylinder drive, that is overactuated in the sense that it has more inputs than sensible outputs. Efforts to overcome the inherent loss of energy due to th+rottling in valve driven hydraulic drives are many...... the ability to bleed off flow from the transmission lines to achieve reasonable pressure levels. This design renders the drive over-actuated as the line pressures and the cylinder piston motion cannot be controlled independently, due to the pressure difference being motion generating. In order to achieve...... satisfactory performance of this drive, a state coupling analysis is presented along with a control strategy based on state decoupling synthesized from input-output transformations. This includes control schemes for the transformed system. The proposed control strategy is experimentally verified on a drive...

  8. Using Feedback Error Learning for Control of Electro Hydraulic Servo System by Laguerre

    Directory of Open Access Journals (Sweden)

    Amir Reza Zare Bidaki

    2014-01-01

    Full Text Available In this paper, a new Laguerre controller is proposed to control the electro hydraulic servo system. The proposed controller uses feedback error learning method and leads to significantly improve performance in terms of settling time and amplitude of control signal rather than other controllers. All derived results are validated by simulation of nonlinear mathematical model of the system. The simulation results show the advantages of the proposed method for improved control in terms of both settling time and amplitude of control signal.

  9. RESEARCH ON CONTROL METHOD OF HYDRAULIC TORQUE SIMULATOR

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    An effective controller and compensator is designed by using the system identification and constant structure theory to realize the effective control. The experimental results indicate the extraneous torque can be decreased by 90% and the characteristics can be improved greatly by means of this kind of method.

  10. Linear Perturbation Adaptive Control of Hydraulically Driven Manipulators

    DEFF Research Database (Denmark)

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

    2004-01-01

    control.Using the Lyapunov approach, under slowly time-varying assumptions, it is shown that the tracking error and the parameter error remain bounded. This bound is a function of the ideal parameters and a bounded disturbance. The control algorithm decouples and linearizes the manipulator so that each...

  11. Design and Simulation of Electronically Controlled Brake System for Heavy Off-Road Vehicle%重型越野汽车电控制动系统的设计与仿真

    Institute of Scientific and Technical Information of China (English)

    张堃; 黄茂; 刘保国; 虎忠

    2014-01-01

    For reducing the braking response time and improving the braking performance of heavy off-road vehicle, an electronically controlled brake system ( EBS) for pneumatic braking is designed. Based on the perform-ance parameters of target vehicle and EBS control algorithm with Matlab/Simulink as simulation platform, models for target vehicle and control alroithm are built to simulate the braking performance of EBS designed in different working conditions, which are then compared with the test data of conventional ABS system, verifying the rationality of sys-tem designed. The results show that the EBS designed has obvious advantages in reducing brake response time and enhancing braking safety.%为缩短重型越野汽车的制动响应时间,提高制动性能,设计了基于气压制动的电控制动系统( EBS)。依据目标车型的性能参数及EBS控制算法,以Matlab/Simulink为仿真平台,建立了目标车型的整车模型及控制算法模型。仿真研究了所设计的EBS系统在不同工况下的制动性能,并通过与常规ABS制动系统试验数据的对比,验证了系统设计的合理性。结果表明,所设计的EBS系统在减少制动响应时间和提高制动安全性方面具有明显的优势。

  12. Negative Effect of Disc Thickness Variation on the Performance of Anti-lock Braking System and Its Control Method%制动盘厚薄差对ABS性能的负面影响及控制方法

    Institute of Scientific and Technical Information of China (English)

    张立军; 黄平宇

    2013-01-01

    A nonlinear braking dynamics model for a quarter car is established, which consists of a rigid-ring-based transient tire model and a disc brake model with consideration of disc thickness variation ( DTV). Based on the model and by using MATLAB/Simulink, the negative effects of DTV on the braking performance of ABS system with slip rate threshold control are analyzed, and a set of adaptive control parameters based on the degrees of DTV are proposed on the basis of optimization to suppress the negative effects of DTV. The results indicate that DTV has negative effects on wheel motion, braking performance and braking comfort, while the use of DTV adaptive control parameters though may deteriorate braking comfort, but can effectively improve wheel motion and braking performance.%建立了包含瞬态刚性圈轮胎模型、考虑制动盘厚薄差(DTV)的制动器模型的1/4车非线性制动动力学模型.基于该模型,利用MATLAB/Simulink软件分析了DTV对滑移率门限值控制下ABS制动性能的负面影响,并提出了一套抑制DTV影响的适应性控制参数.结果表明:DTV会对车轮运动状态、制动效能和制动舒适性产生负面影响,而采用DTV适应性ABS控制参数虽会恶化舒适性,但可改善车轮运动状态,提高制动效能.

  13. PI-type Iterative Learning Control for Nonlinear Electro-hydraulic Servo Vibrating System

    Institute of Scientific and Technical Information of China (English)

    LUO Xiaohui; ZHU Yuquan; HU Junhua

    2009-01-01

    For the electro-hydraulic servo vibrating system(ESVS) with the characteristics of non-linearity and repeating motion, a novel method, PI-type iterative learning control(ILC), is proposed on the basis of traditional PID control. By using memory ability of computer, the method keeps last time's tracking error of the system and then applies the error information to the next time's control process. At the same time, a forgetting factor and a D-type learning law of feedforward fuzzy-inferring referenced displacement error under the optimal objective are employed to enhance the systemic robustness and tracking accuracy. The results of simulation and test reveal that the algorithm has a trait of high repeating precision, and could restrain the influence of nonlinear factors like leaking, external disturbance, aerated oil, etc. Compared with traditional PID control, it could better meet the requirement of nonlinear electro-hydraulic servo vibrating system.

  14. Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode

    Institute of Scientific and Technical Information of China (English)

    王尧尧; 陈家旺; 顾临怡; 李晓东

    2015-01-01

    For the position tracking control of hydraulic manipulators, a novel method of time delay control (TDC) with continuous nonsingular terminal sliding mode (CNTSM) was proposed in this work. Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation (TDE), which means the proposed method is model-free and no prior knowledge of the dynamics is required. Moreover, the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties. Despite its considerable robustness against lumped uncertainties, the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications. Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.

  15. 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.

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

    Directory of Open Access Journals (Sweden)

    Zoran Đukan Majkić

    2013-10-01

    Full Text Available Hydraulic servo controls are designed to facilitate rotation in place without providing increased ppower to steering wheels. In the initial design phase, the dimensions required for control systems are usually obtained through the calculation of their load when wheels rotate in place, where the torque is calculated empirically. The starting point in the project calculation is thus to determine the hydraulic power steering torque torsional resistance which is then used to determine the maximum value of force i.e. the torque on the stering wheel. The calculation of the control system servo control consists of determining the basic parameters, the required pump capacity, the main dimensions of the hub and the  pipeline and the conditions for the stability of the system control mechanism. Introduction The aim of the calculation of the steering control system is to determine the basic parameters of its components which ensure the fulfilment of requirements of the control system. Calculations are performed in several stages with a simultaneous  detailed constructive analysis of the control system leading to the best variant. At each stage, design and control calculations of the hydraulic servo of the steering mechanism are performed. The design allows the computation to complete the selection of basic dimensions of the amplifer elements, starting from the approved scheme and the basic building loads of approximate values. Calculations control is carried out to clarify the structural solution and to obtain the output characteristics of the control amplifier which are applied in the  estimation of  potential properties of the structure. Project calculation Baseline data must be sufficiently reliable, ie. must correspond to the construction characteristics of the vehicle design and the control system as well as to service conditions..A proper deterimination of the torque calculation of torsional resistance in wheels is of utmost importance. Moment of

  17. Status quo of applications of new control theories for hydraulic control systems; Shinseigyo riron no yuatsu eno oyo no genjo

    Energy Technology Data Exchange (ETDEWEB)

    Yokota, S. [Tokyo Institute of Technology, Tokyo (Japan)

    2000-05-15

    This paper describes application of a new control theory to hydraulics. The modern control theory has become applied to hydraulics since about the 1940's, and optimal polarity arrangement by using the status feedback and adaptive control represented by MRAC have emerged. Thereafter, the robust control comes on stage as a fusion of the status space method and the frequency zone theory. For the application thereof, much discussions were given on adaptive control represented by MRAC in order to cover large variation in system parameters in hydraulic control. Since variable parameters are included, there are problems of identification of safety limit, and time delay. Fuzzy control allowing the mathematical model of the subject system to be unclear and neural net control are expanding their applications because of their easiness of handling. The robust control has also begun being applied partly, which is regarded useful for servos. Design freedom is high because target followability and stability are designed separately. However, reliable introduction of two-freedom degree control system such as H{sub {infinity}} control is indispensable. The paper also describes the single adaptive control (SAC) and the sliding mode control (SMC). (NEDO)

  18. Improved Electromagnetic Brake

    Science.gov (United States)

    Martin, Toby B.

    2004-01-01

    A proposed design for an electromagnetic brake would increase the reliability while reducing the number of parts and the weight, relative to a prior commercially available electromagnetic brake. The reductions of weight and the number of parts could also lead to a reduction of cost. A description of the commercial brake is prerequisite to a description of the proposed electromagnetic brake. The commercial brake (see upper part of figure) includes (1) a permanent magnet and an electromagnet coil on a stator and (2) a rotor that includes a steel contact plate mounted, with tension spring loading, on an aluminum hub. The stator is mounted securely on a stationary object, which would ordinarily be the housing of a gear drive or a motor. The rotor is mounted on the shaft of the gear drive or motor. The commercial brake nominally operates in a fail-safe (in the sense of normally braking) mode: In the absence of current in the electromagnet coil, the permanent magnet pulls the contact plate, against the spring tension, into contact with the stator. To release the brake, one excites the electromagnet with a current of the magnitude and polarity chosen to cancel the magnetic flux of the permanent magnet, thereby enabling the spring tension to pull the contact plate out of contact with the stator. The fail-safe operation of the commercial brake depends on careful mounting of the rotor in relation to the stator. The rotor/stator gap must be set with a tolerance between 10 and 15 mils (between about 0.25 and about 0.38 mm). If the gap or the contact pad is thicker than the maximum allowable value, then the permanent magnetic field will not be strong enough to pull the steel plate across the gap. (For this reason, any contact pad between the contact plate and the stator must also be correspondingly thin.) If the gap exceeds the maximum allowable value because of shaft end play, it becomes impossible to set the brake by turning off the electromagnet current. Although it may

  19. Interval Type-2 fuzzy position control of electro-hydraulic actuated robotic excavator

    Institute of Scientific and Technical Information of China (English)

    Hassan Mohammed Yousif; Kothapalli Ganesh

    2012-01-01

    This paper deals with fuzzy intelligent position control of electro-hydraulic activated robotic excavator for the control of boom,arm and bucket axes.Intelligent control systems are required to overcome undesirable stick-slip motion,limit cycles and oscillations.Models of electro-hydraulic servo controlled front end loader excavators are highly nonlinear.The nonlinear model accounts for fluid flow rate of valve,pump hydraulics,and friction forces.The friction forces are modelled by Coulomb,viscous and Stribeck function.Interval Type-2 Fuzzy Logic Controller (IT2FLC) is used to study the time domain position responses of axes in the presence of external applied load.It has the ability to control the position of eachof the three axes with minimum actuator position errors.Models presented are accurate and study the dynamics of the actuator and load.To improve the transient behaviour of the robotic excavator,we eliminated jitter of the bucket movement in the presence of nonlinearities.

  20. Discrete Learning Control with Application to Hydraulic Actuators

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Pedersen, Henrik Clemmensen; Hansen, Michael R.

    2015-01-01

    In this paper the robustness of a class of learning control algorithms to state disturbances, output noise, and errors in initial conditions is studied. We present a simple learning algorithm and exhibit, via a concise proof, bounds on the asymptotic trajectory errors for the learned input and th...

  1. Transnet regenerative braking concept definition

    CSIR Research Space (South Africa)

    Giesler, Achmed

    2015-09-01

    Full Text Available have the added advantage that they can be housed in temperature and controlled buildings in a relatively clean environment. Technologies being used and researched Energy regenerated during braking can either be fed back into the grid or stored... Body of Knowledge: http://sebokwiki.org/wiki/Concept_Definition Halligan, R. J. (2011, October 6). Operational Concept Description. Operational Concept Description. Melbourne: Project Performance International. Jaafar, A., Akli, C. S., Roboam, X...

  2. Optimal Control of Nonlinear Hydraulic Networks in the Presence of Disturbance

    DEFF Research Database (Denmark)

    Tahavori, Maryamsadat; Leth, John-Josef; Kallesøe, Carsten;

    2014-01-01

    Water leakage is an important component of water loss. Many methods have emerged from urban water supply systems for leakage control, but it still remains a challenge in many countries. Pressure management is an effective way to reduce the leakage in a system. It can also reduce the power consump...... control problem is the interior point method. The method which is used in this paper can be used for a general hydraulic networks to optimize the leakage and energy consumption and to satisfy the demands at the end-users....... consumption. To this end, an optimal control strategy is proposed in this paper. In the water supply system model, the hydraulic resistance of the valve is estimated by the real data from a water supply system and it is considered to be a disturbance. The method which is used to solve the nonlinear optimal...

  3. NUMERICAL MODELING OF MULTICYLINDER ELECTRO-HYDRAULIC SYSTEM AND CONTROLLER DESIGN FOR SHOCK TEST MACHINE

    Institute of Scientific and Technical Information of China (English)

    CHU Deying; ZHANG Zhiyi; WANG Gongxian; HUA Hongxing

    2007-01-01

    A high fidelity dynamic model of a high-energy hydraulically-actuated shock test machine for heavy weight devices is presented to satisfy the newly-built shock resistance standard and simulate the actual underwater explosion environments in laboratory as well as increase the testing capability of shock test machine. In order to produce the required negative shock pulse in the given time duration, four hydraulic actuators are utilized. The model is then used to formulate an advanced feedforward controller for the system to produce the required negative waveform and to address the motion synchronization of the four cylinders. The model provides a safe and easily controllable way to perform a "virtual testing" before starting potentially destructive tests on specimen and to predict performance of the system. Simulation results have demonstrated the effectiveness of the controller.

  4. 减速制动时机械式自动变速器车辆换档控制策略%Shifting Control Strategy of Deceleration Braking for Automated Mechanical Transmission Vehicle

    Institute of Scientific and Technical Information of China (English)

    朱敏; 刘海鸥; 王尔烈; 陈慧岩

    2015-01-01

    将制动工况分为普通制动、紧急制动和惯性制动三种,研究不同制动工况下手动变速器(Manual transmission, MT)车辆优秀驾驶员的操控特点。将普通制动工况和紧急制动工况归为减速制动这一类情况对机械式自动变速器(Automated mechanical transmission, AMT)车辆进行研究。结合某重型越野车辆的车辆参数和试验数据,分析位置式电控柴油机的特性,提出油门关闭时其发动机转速存在一个固有转速下降率的概念,指出由于外界的原因来延缓或加快这一变化率时,发动机都将产生阻碍这一运动趋势的转矩。在对制动过程中传动系统动力学模型进行详细分析的基础上,讨论不同制动工况下发动机的作用。根据发动机转速及其下降率、变速器输出轴转速及其下降率,结合当前档位、离合器状态以及制动信号来识别普通制动和紧急制动,制定减速制动时AMT车辆换档控制策略,通过实车道路试验进行验证。%Braking conditions are divided into three categories: ordinary braking, emergency braking and inertia braking, then a research about the characteristics of manual transmission(MT) vehicle excellent drivers’ manipulation in different braking conditions is made. The conditions of ordinary braking and emergency braking are classified as deceleration braking, and then begin the study of the automated mechanical transmission(AMT) vehicle. Combined with a heavy off-road vehicle’s parameters and test data, a detailed analysis of the characteristics of Position-type electronically controlled diesel engine is carried out. Then the concept of the natural descending rate of engine speed when throttle is closed is put forward, to slow down or speed up the rate due to external reasons, the engine will produce torque to hinder this movement trends. On the basis of a detailed analysis of the drive system dynamics model of the braking process, the role

  5. Second Order Sliding Mode Control with Prescribed Convergence Law for Electro-Hydraulic Drives

    DEFF Research Database (Denmark)

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

    2013-01-01

    This paper discusses the application of second order sliding modes for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The target is to introduce increased tracking- and transient performance compared to conventional linear approaches, without extending the number...... approach, and that control chattering is eliminated without introducing a boundary layer, normally seen in first order sliding mode controlled systems....... of tuning parameters. The proposed controller utilizes basic component knowledge commonly available from data sheets, as well as pressure-, valve position-, piston position- and velocity measurements. Results demonstrate improved position tracking- and transient performance, compared to a linear control...

  6. Model predictive control of servo motor driven constant pump hydraulic system in injection molding process based on neurodynamic optimization

    Institute of Scientific and Technical Information of China (English)

    Yong-gang PENG; Jun WANG; Wei WEI

    2014-01-01

    In view of the high energy consumption and low response speed of the traditional hydraulic system for an injection molding machine, a servo motor driven constant pump hydraulic system is designed for a precision injection molding process, which uses a servo motor, a constant pump, and a pressure sensor, instead of a common motor, a constant pump, a pressure pro-portion valve, and a flow proportion valve. A model predictive control strategy based on neurodynamic optimization is proposed to control this new hydraulic system in the injection molding process. Simulation results showed that this control method has good control precision and quick response.

  7. Braking System for Wind Turbines

    Science.gov (United States)

    Krysiak, J. E.; Webb, F. E.

    1987-01-01

    Operating turbine stopped smoothly by fail-safe mechanism. Windturbine braking systems improved by system consisting of two large steel-alloy disks mounted on high-speed shaft of gear box, and brakepad assembly mounted on bracket fastened to top of gear box. Lever arms (with brake pads) actuated by spring-powered, pneumatic cylinders connected to these arms. Springs give specific spring-loading constant and exert predetermined load onto brake pads through lever arms. Pneumatic cylinders actuated positively to compress springs and disengage brake pads from disks. During power failure, brakes automatically lock onto disks, producing highly reliable, fail-safe stops. System doubles as stopping brake and "parking" brake.

  8. A high performance pneumatic braking system for heavy vehicles

    Science.gov (United States)

    Miller, Jonathan I.; Cebon, David

    2010-12-01

    Current research into reducing actuator delays in pneumatic brake systems is opening the door for advanced anti-lock braking algorithms to be used on heavy goods vehicles. However, these algorithms require the knowledge of variables that are impractical to measure directly. This paper introduces a sliding mode braking force observer to support a sliding mode controller for air-braked heavy vehicles. The performance of the observer is examined through simulations and field testing of an articulated heavy vehicle. The observer operated robustly during single-wheel vehicle simulations, and provided reasonable estimates of surface friction from test data. The effect of brake gain errors on the controller and observer are illustrated, and a recursive least squares estimator is derived for the brake gain. The estimator converged within 0.3 s in simulations and vehicle trials.

  9. How far can various control options take us in terms of increased hydraulic capacity under wet weather conditions?

    DEFF Research Database (Denmark)

    Sharma, Anitha Kumari; Guildal, T.; Thomsen, H. A. R.

    Many modelling studies have demonstrated that the hydraulic capacity of the WWTP can be improved by introducing various real time control options, however few studies have demonstrated how effective these controls are in the real world.......Many modelling studies have demonstrated that the hydraulic capacity of the WWTP can be improved by introducing various real time control options, however few studies have demonstrated how effective these controls are in the real world....

  10. Pressure Control of Electro-Hydraulic Servovalve and Transmission Line Effect

    Directory of Open Access Journals (Sweden)

    Ahmed Fouad Mahdi

    2013-06-01

    Full Text Available The effected of the long transmission line (TL between the actuator and the hydraulic control valve sometimes essentials. The study is concerned with modeling the TL which carries the oil from the electro-hydraulic servovalve to the actuator. The pressure value inside the TL has been controlled by the electro-hydraulic servovalve as a voltage supplied to the servovalve amplifier. The flow rate through the TL has been simulated by using the lumped π element electrical analogy method for laminar flow. The control voltage supplied to servovalve can be achieved by the direct using of the voltage function generator or indirect C++ program connected to the DAP-view program built in the DAP-card data acquisition connected to PC, to control the value of pressure in a selected point in the TL. It has been found that the relation between the voltage value and the output flow rate from the servovalve in most of the path is a linear relation. The MATLAB m-File program is used to create a representation state of the mathematical model to find a good simulation for the experimental open loop control test.

  11. High Pressure Hydraulic Distribution System

    Science.gov (United States)

    1991-05-20

    to 500 0 F. 5 cycles. 5000 F room temperature to 50001F; 45 ______________ Icycles The tesis planned for the distribution system demonstrator were...American Society for Testing and Materials ASTM D412 - Tension Testing of Vulcanized Rubber ASTM D571 - Testing Automotive Hydraulic Brake Hose Society of

  12. Directional hydraulic fracturing to control hard-roof rockburst in coal mines

    Institute of Scientific and Technical Information of China (English)

    Fan Jun; Dou Linming; He Hu; Du Taotao; Zhang Shibin; Gui Bing; Sun Xinglin

    2012-01-01

    Hard roof is the main factor that induces rock-burst.In view of the present obvious weakness of control measures for hard roof rockburst in domestic collieries,the mechanism and field application of directional hydraulic fracturing technology for rock-burst prevention have been investigated in this paper using theoretical analysis and numerical simulation.The results show that the weighting span of the main roof and the released kinetic energy as well as the total elastic energy decreased greatly after the directional fracturing of hard roof with the mining progression,thereby reducing the rockburst hazard degree to coal body.The directional hydraulic fracturing technology was carried out in 6305 working face of Jisan Coal Mine to prevent rockburst.Field practices have proved that this technology is much simpler and safer to operate with better prevention effect compared with blasting.By optimizing the operation procedures and developing a new technology of automated high-pressure delivery pipe,the maximum fracturing radius now reaches more than 9 m and the borehole depth exceeds 20 m.Additionally,drilling cutting method was applied to monitor the stress of the coal mass before and after the fracturing,and the drill cuttings dropped significantly which indicates that the burst prevention effect of directional hydraulic fracturing technology is very remarkable.The research results of this paper have laid a theoretical and practical foundation for the widespread application of the directional hydraulic fracturing technology in China.

  13. An Intelligent Regenerative Braking Strategy for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Zhibin Song

    2011-09-01

    Full Text Available Regenerative braking is an effective approach for electric vehicles (EVs to extend their driving range. A fuzzy-logic-based regenerative braking strategy (RBS integrated with series regenerative braking is developed in this paper to advance the level of energy-savings. From the viewpoint of securing car stability in braking operations, the braking force distribution between the front and rear wheels so as to accord with the ideal distribution curve are considered to prevent vehicles from experiencing wheel lock and slip phenomena during braking. Then, a fuzzy RBS using the driver’s braking force command, vehicle speed, battery SOC, battery temperature are designed to determine the distribution between friction braking force and regenerative braking force to improve the energy recuperation efficiency. The experimental results on an “LF620” prototype EV validated the feasibility and effectiveness of regenerative braking and showed that the proposed fuzzy RBS was endowed with good control performance. The maximum driving range of LF620 EV was improved by 25.7% compared with non-RBS conditions.

  14. The brake-system of the new Mercedes van-generation Sprinter; Die Bremsanlage der neuen Transporter-Generation Sprinter von Mercedes-Benz

    Energy Technology Data Exchange (ETDEWEB)

    Reuter, M.; Spielmann, W.

    1996-01-01

    The new Mercedes-Sprinter is the first van model series in this weight category which is equipped with disc brakes all round and ABS und ABD as standard. A diagonally divided hydraulic brake system with vacuum-controlled power assistance and automatic load-sensitive brake pressure control (ALB) is installed. The wheel brakes used are of a floating caliper type. During the development particular attention was paid to the constant friction coefficient of the brake linings, the `high` speed suitability and the provision of high thermal reserves. This concept offers good prerequisites for adding additional functions such as a brake assistant or a dynamic handling control system. For the first time there was a close cooperation between vehicle manufacturer, suppliers of brakes, linings and components during the development phase. To organise this complex development work a comprehensive specification booklet with detailed specs was drawn up and agreed with all parties involved. The result of the close cooperation is a positive example of the Mercedes-Benz tandem philosophy. (orig.) [Deutsch] Beim neuen Mercedes-Sprinter handelt es sich um die erste Transporter-Baureihe in dieser Gewichtsklasse mit vier Scheibenbremsen und serienmaessigem ABS mit ABD. Zum Einsatz kommt eine diagonal aufgeteilte hydraulische Bremsanlage mit Vakuum-Hilfskraftunterstuetzung und automatisch lastabhaengiger Bremskraftregelung (ALB). Als Radbremsen werden Schwimmsattelbremsen in Faustsattelbauweise verwendet. Besondere Schwerpunkte bei der Entwicklung waren die Reibwertkonstanz der Bremsbelaege, die Tauglichkeit bei hohen Geschwindigkeiten und die Schaffung hoher thermischer Reserven. Mit dieser Konzeption sind gute Voraussetzungen geschaffen, um weitere Zusatzfunktionen wie etwa einen Bremsassistenten oder eine Fahrdynamikregelung einzusetzen. Bei der Entwicklung wurde erstmals eine enge Zusammenarbeit zwischen Fahrzeughersteller, Bremsen-, Belag- und Komponentenlieferanten praktiziert. Zur

  15. Research on optimization control of braking force further distri-bution for subway train%地铁列车制动力再分配优化控制研究

    Institute of Scientific and Technical Information of China (English)

    朱琴跃; 王景熙; 申朝旭; 谭喜堂

    2015-01-01

    For the problem that the electro-pneumatic braking force distribution strategy of existing subway trains hasn't fully considered the different demands of braking force applied to different train axles, the optimization control algorithm of the further distribution of braking force on different train axles is presented. On analysis of electro-pneumatic cooperative control strategy of electric brake priority for the basic control unit making up of 2 motor cars and 1 trailer car in the certain Beijing subway train, the optimization algorithm based on the axle load transfer is put forward, which proposes that the braking force is applied proportionally to different train axles in terms of the pressures withstood by their corresponding wheel pairs. By using Matlab/Simulink software to model and simulate above algorithm, the braking force distribution and changes under different braking conditions are analyzed. The results show that the braking force further distribution optimization strategy which is based on the axle load transfer helps to improve the anti-slip property and stable braking effect. And the expected result has been achieved.%针对现有地铁列车在电-空制动力分配控制策略中没有充分考虑各轴应施加制动力存在差异的问题,对制动力再分配优化控制算法进行了研究.在对电制动优先的电-空制动力协调分配算法进行分析的基础上,以北京某地铁列车中2动1拖基本制动单元为研究对象,基于轴重转移原则,提出了根据各轮对所承受压力的大小按比例再分配空气制动力的优化控制算法,并通过Matlab/Simulink软件对地铁列车处于不同制动工况下制动力的再分配情况进行了仿真和分析.仿真结果表明,基于轴重转移的各轴空气制动力再分配优化控制策略有助于改善列车防滑性能、提高列车平稳制动的效果,达到了预期目标.

  16. VARIABLE STRUCTURE CONTROL APPLIED IN ELECTRO-HYDRAULIC SERVO SYSTEM WITH ANN

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    The variable structure control (VSC) theory is applied to the electro-hydraulic servo system here. The VSC control law is achieved using Lyapunov method and pole placement. To eliminate the chattering phenomena, a saturation function is adopted. The proposed VSC approach is fairly robust to load disturbance and system parameter variation. Since the distortion including phase lag and amplitude attenuation occurs in the system sinusoid response, the amplitude and phase control (APC)algorithm, based on Adaline neural network and using LMS algorithm, is developed for distortion cancellation. The APC controller is simple and can on-line adjust, thus it gives accurate tracking.

  17. Study on control strategy of optimal braking energy recovery for pure electric bus%纯电动客车最佳制动能量回收控制策略研究

    Institute of Scientific and Technical Information of China (English)

    初敏; 高松; 杨坤; 张琼; 李博; 温延兵

    2015-01-01

    In order to fully recover the braking energy of electric vehicles in the braking process, to extend the driving range and to save energy, the control strategy of optimal braking energy recovery for rear-drive pure electric bus is studied. By analyzing the structure of the braking energy recovery system and considering the restrictions of drive motor and power battery for the size of the motor bra-king force, a control strategy for optimal braking energy recovery is proposed to recycle braking ener-gy as much as possible on the premise of ensuring the braking safety. The vehicle simulation model is built and a simulation is conducted by using an integrated simulation platform of Cruise and Simu-link. The simulation results show that the proportion that recyclable braking energy accounts for the kinetic energy consumed in the process of braking can reach 24. 7% and the proportion that recycla-ble braking energy accounts for the braking energy can reach 36. 2% by using this control strategy of braking energy recovery in typical urban driving cycle of China. The effect of energy saving is obvi-ous.%为了充分回收电动汽车制动过程中的制动能量,达到延长续驶里程和节约能源的目的,针对后驱纯电动客车进行了最佳制动能量回收控制策略的研究。在分析制动能量回收系统结构的基础上,考虑驱动电机和动力电池对电机制动力大小的限制,提出了一种最佳制动能量回收控制策略,该策略在保证制动安全的前提下,能回收尽可能多的制动能量。并基于Cruise和Simulink联合仿真平台,搭建了整车仿真模型,进行了仿真验证,仿真结果表明在中国典型城市循环工况中采用该制动能量回收控制策略,所回收的制动能量占制动过程中消耗的动能的比例可达24.7%,占制动系统所消耗的总能量的比例可达36.2%,节能效果明显。

  18. Sistem Pendingin Paksa Anti Panas Lebih (Over Heating pada Rem Cakram (Disk Brake Kendaraan

    Directory of Open Access Journals (Sweden)

    Joni Dewanto

    2010-01-01

    Full Text Available Until now, the vehicle brakes are not usually equipped with a special cooling system, so that the release of heat into the air occurs naturally. When used continuously, the brakes can suffer damage as a result of the occurrence of over-heating. This condition is potentially causing a fatal accident. Physically, the over-heating often occurs in type disc brake, because the heat transfer surface is less proportionately, especially for high braking loads. This research aims to develop a brake disc with an active cooling system to prevent overheating. The system is applied to a simulated model of disc brakes empirically. The test was conducted at several levels of constant disc speed and breaking force. The results of this research indicate that at various braking load, the development of disc brakes with an active cooling system in the form of water vapor that is sprayed, can control the brake temperature rise and prevent over-heating.

  19. Design and optimazation of braking system on FSAE racing car%FSAE赛车制动系统的设计及其优化

    Institute of Scientific and Technical Information of China (English)

    李栋新; 黄光绪; 包耳

    2014-01-01

    按照FSAE规定,赛车制动系统要求简单控制,必须有两条液压回路而且每条液压回路必须有独立的储液罐,不允许采用带有助力的制动装置。将制动系统全部采用液压动力制动系统。这种方式作用滞后时间较短、工作压力高,因而主缸尺寸小,使制动器结构简单、质量小、机械效率高。假定附地面附着系数为0.8的情况下,赛车以20km/h制动的情况下计算了赛车的最大减速度和制动距离。对于制动系统的设计和优化具有指导性的意义。%According to the FSAE competition rules, the braking system of racing cars should be easily controlled, two hydraulic circuits and two independent resevoirs for each circuit are required, and no power assisting device is allowed. We put hydraulic power braking system into practice, by this mean we have short delay time and high working pressure so that the size of the master cylinder could be small. In this case the brake is constructed easily, having less mass and much more efficient. Assume adhension coefficient was 0.8 and initial speed of braking was 20 km/h, maximum deceleration and braking distance was calculated. This study is helpful for the braking system design of racing car.

  20. LQG Control of Acceleration/Braking System Based on Wheelbase Preview%预瞄信息空气悬架汽车在加速/制动工况下的LQG控制

    Institute of Scientific and Technical Information of China (English)

    潘公宇; 黄宇

    2012-01-01

    A mathematic model of one second vehicle about acceleration/braking system based on air suspension is established. By applying wheelbase preview control to forecast the road surface roughness at the front wheel, the optimal controller based on wheelbase preview control theory is designed. Then the simulation is implemented in the MATLAB/Simulink environment. The simulation results show that the performance of the active air suspension acceleration/braking system with a LQG controller based on wheelbase preview can effectively suppress vehicle vibration compared with the passive air suspension acceleration/braking system; and compared with the optimal air suspension acceleration/braking system, the active air suspension acceleration/braking system does well in improving the ride comfort of acceleration/braking system.%建立了基于空气悬架的1/2车辆加速/制动系统模型,通过轴距预瞄在后轮处提前预测路面不平度;设计了基于轴距预瞄控制算法的加速/制动最优控制器;进行了白噪声仿真分析.仿真结果表明:与被动空气悬架加速/制动系统相比,基于轴距预瞄控制的主动空气悬架加速/制动系统能有效降低车辆振动.与最优控制空气悬架加速/制动系统相比,质心加速度和后轮对应处的车身加速度、悬架动行程、轮胎动载均有显著减小,较好的改善了车辆在加速/制动时的平顺性和操纵稳定性.

  1. Plant hydraulic controls over ecosystem responses to climate-enhanced disturbances

    Science.gov (United States)

    Mackay, D. S.; Ewers, B. E.; Reed, D. E.; Pendall, E.; McDowell, N. G.

    2012-12-01

    Climate-enhanced disturbances such as drought and insect infestation range in severity, contributing minor to severe stress to forests including forest mortality. While neither form of disturbance has been unambiguously implicated as a mechanism of mortality, both induce changes in water, carbon, and nutrient cycling that are key to understanding forest ecosystem response to, and recovery from, disturbance. Each disturbance type has different biophysical, ecohydrological, and biogeochemical signatures that potentially complicate interpretation and development of theory. Plant hydraulic function is arguably a unifying control over these responses to disturbance because it regulates stomatal conductance, leaf biochemistry, carbon (C) uptake and utilization, and nutrient cycling. We demonstrated this idea by focusing on water and C, including non-structural (NSC), resources, and nitrogen (N) uptake across a spectrum of forest ecosystems (e.g., northern temperate mixed forests, lodgepole pine forests in the Rocky Mountains, and pinon pine - juniper woodlands in New Mexico) using the Terrestrial Regional Ecosystem Exchange Simulator (TREES). TREES is grounded in the biophysics of water movement through soil and plants, respectively via hydraulic conductivity of the soil and cavitation of xylem. It combines this dynamic plant hydraulic conductance with canopy biochemical controls over photosynthesis, and the dynamics of structural and non-structural carbon through a carbon budget that responds to plant hydraulic status. As such, the model can be used to develop testable hypotheses on a multitude of disturbance and recovery responses including xylem dysfunction, stomatal and non-stomatal controls on photosynthesis and carbon allocation, respiration, and allocation to defense compounds. For each of the ecosystems we constrained and evaluated the model with allometry, sap flux and/or eddy covariance data, leaf gas exchange measurements, and vulnerability to cavitation data

  2. Guiding-controlling technology of coal seam hydraulic fracturing fractures extension

    Institute of Scientific and Technical Information of China (English)

    Zhai; Cheng; Li; Min; Sun; Chen; Zhang; Jianguo; Yang; Wei; Li; Quangui

    2012-01-01

    Aiming at the uncontrollable problem of extension direction of coal seam hydraulic fracturing,this study analyzed the course of fractures variation around the boreholes in process of hydraulic fracturing,and carried out the numerical simulations to investigate the effect of artificial predetermined fractures on stress distribution around fractured holes.The simulation results show that partial coal mass occurs relatively strong shear failure and forms weak surfaces,and then fractures extended along the desired direction while predetermined fractures changed stress distribution.Directional fracturing makes the fractures link up and the pressure on coal mass is relieved within fractured regions.Combining deep hole controlling blasting with hydraulic fracturing was proposed to realize the extension guiding-controlling technology of coal seam fractures.Industrial experiments prove that this technology can avoid local stress concentration and dramatically widen the pressure relief scope of deep hole controlling blasting.The permeability of fractured coal seam increased significantly,and gas extraction was greatly improved.Besides,regional pressure relief and permeability increase was achieved in this study.

  3. 刹车系统的摩擦自激振动和控制%FRICTION-INDUCED SELF-EXCITED VIBRATION AND CONTROL OF A BRAKE SYSTEM

    Institute of Scientific and Technical Information of China (English)

    贾尚帅; 丁千

    2012-01-01

    The non-linear dynamics and control of friction-induced vibration in a brake system are investigated. Adopting the LuGre friction model, the dynamical equations of a 2-DOF disc brake system are derived by considering the friction force between the disc and the pad. The critical speed of Hopf bifurcation of the equilibrium is obtained through stability analysis. The design method based on differential geometry and linear quadratic optimal control for SISO nonlinear system controller is used to reduce the chatter phenomena during deceleration-type braking by postponing the critical speed of Hopf bifurcation. At last, the influences of the controller and the system parameters are analyzed. The simulation result shows that the method based on differential geometry and linear quadratic optimal is effective to control the self-excited vibration.%研究刹车系统的摩擦自激振动和控制问题。采用LuGre模型计算摩擦力,建立了两自由度盘式刹车系统的动力学模型。通过平衡点的稳定性分析,给出Hopf分岔失稳的临界速度。应用基于微分几何法和线性二次型最优控制相结合的方法,设计单输入单输出的非线性系统控制器,以便通过推迟系统的分岔临界速度,减少减速型刹车过程中的摩擦颤振,避免刹车啸叫。最后分析了控制器和系统参数对控制效果的影响。仿真表明,该控制器能有效的抑制刹车系统中的摩擦自激振动。

  4. ACTIVE FRONT STEERING DURING BRAKING PROCESS

    Institute of Scientific and Technical Information of China (English)

    CHEN Deling; CHEN Li; YIN Chengliang; ZHANG Yong

    2008-01-01

    An active front steering (AFS) intervention control during braking for vehicle stability is presented. Based on the investigation of AFS mechanism, a simplified model of steering system is established and integrated with vehicle model. Then the AFS control on vehicle handling dynamics during braking is designed. Due to the difficulties associated with the sideslip angle measurement of vehicle, a state observer is designed to provide real time estimation. Thereafter, the controller with the feedback of both sideslip and yaw angle is implemented. To evaluate the system control, the proposed AFS controlled vehicle has been tested in the Hardware-in-the-loop-simulation (HILS) system and compared with that of conventional vehicle. Results show that AFS can improve vehicle lateral stability effectively without reducing the braking performance.

  5. Combined control effects of brake and active suspension control on the global safety of a full-car nonlinear model

    Science.gov (United States)

    Tchamna, Rodrigue; Youn, Edward; Youn, Iljoong

    2014-05-01

    This paper focuses on the active safety of a full-vehicle nonlinear model during cornering. At first, a previously developed electronic stability controller (ESC) based on vehicle simplified model is applied to the full-car nonlinear model in order to control the vehicle yaw rate and side-slip angle. The ESC system was shown beneficial not only in tracking the vehicle path as close as possible, but it also helped in reducing the vehicle roll angle and influences ride comfort and road-holding capability; to tackle that issue and also to have better attitude motion, making use of optimal control theory the active suspension control gain is developed from a vehicle linear model and used to compute the active suspension control force of the vehicle nonlinear model. The active suspension control algorithm used in this paper includes the integral action of the suspension deflection in order to make zero the suspension deflection steady state and keep the vehicle chassis flat. Keeping the chassis flat reduces the vehicle load transfer and that is helpful for road holding and yaw rate tracking. The effects of the two controllers when they work together are analysed using various computer simulations with different steering wheel manoeuvres.

  6. PI control based on fuzzy set-point weighting tracking for hydraulic crane boom system

    Institute of Scientific and Technical Information of China (English)

    Yong YANG; An LUO; Karl-Erik RYDBERG

    2006-01-01

    A PI control strategy based on fuzzy set-point weighting following was proposed for the active damping control of a hydraulic crane boom system (HCBS). Two valve-controlled PI controllers, which include a proportional feedforward controller based on fuzzy set-point weighting following and a limited semi-integrator(LSI), are designed respectively. LSI is used to limit output signal and to prevent wind up at the low frequency of the spectrum. By using a range camera and an electronic feedback control, the tip damping on the HCBS can be adjusted artificially. A collaborative control simulation technique of HOPSAN and MATLAB/SIMULINK is applied to the controller design. Simulation results show that the proposed PI control system has less overshoot as well as faster response. The tip damping on the HCBS during operation is improved.

  7. A Model Predictive Control Approach for Fuel Economy Improvement of a Series Hydraulic Hybrid Vehicle

    Directory of Open Access Journals (Sweden)

    Tri-Vien Vu

    2014-10-01

    Full Text Available This study applied a model predictive control (MPC framework to solve the cruising control problem of a series hydraulic hybrid vehicle (SHHV. The controller not only regulates vehicle velocity, but also engine torque, engine speed, and accumulator pressure to their corresponding reference values. At each time step, a quadratic programming problem is solved within a predictive horizon to obtain the optimal control inputs. The objective is to minimize the output error. This approach ensures that the components operate at high efficiency thereby improving the total efficiency of the system. The proposed SHHV control system was evaluated under urban and highway driving conditions. By handling constraints and input-output interactions, the MPC-based control system ensures that the system operates safely and efficiently. The fuel economy of the proposed control scheme shows a noticeable improvement in comparison with the PID-based system, in which three Proportional-Integral-Derivative (PID controllers are used for cruising control.

  8. 考虑CVT效率的混合动力汽车再生制动控制策略%Control Strategy for Regenerative Braking of HEV with Consideration of CVT Efficiency

    Institute of Scientific and Technical Information of China (English)

    秦大同; 陈斌; 杨阳; 邓涛

    2012-01-01

    Based on the analysis of relation of regenerative braking efficiency and motor,battery as well as CVT efficiency,an optimal working line of motor,battery and CVT was obtained and an optimal control strategy of regenerative braking was proposed in which the efficiencies of the motor,battery and CVT are taken into account.The regenerative braking model of HEV was established and the simulation was carried out.The results showed that compared to the current control strategy for regenerative braking of HEV; the proposed control strategy can not only ensured the prerequisite of braking safety, but also further improved the recovery of braking energy.%在分析再生制动系统综合效率与电机、电池、CVT效率之间关系的基础上,获取了电机、电池、CVT联合最佳效率曲线,提出了综合考虑电机、电池、CVT效率的再生制动优化控制策略,进行了CVT混合动力汽车再生制动的建模与仿真分析.结果表明:所提出的再生制动控制策略与现有CVT混合动力汽车再生制动控制策略相比,可在保证整车制动安全的条件下,进一步提高制动能量回收率.

  9. Mechatronic System Design and Intelligent Motion Control of Hydraulic Robots and Machines

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben

    2003-01-01

    The paper presents an approach and concept to mechatronic system design and intelligent motion control. The Information Technology (IT) offers software and hardware for improvement of R&D Mechatronic Teams to create products and solutions for industrial applications. The latest progress in IT makes...... control as well as from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility for a DTU-AAU hydraulic robot ¿Thor¿, and a CNC XY-machine table was implemented. The controller applies digital signal processors (DSPs). The DSP...

  10. Design, analysis and control of hydraulic soft yaw system for 5MW wind turbine

    DEFF Research Database (Denmark)

    Stubkier, Søren; Pedersen, Henrik C.; Andersen, Torben Ole

    2012-01-01

    by active control of a hydraulic yaw system. The control is based on a non-linear and linear model derived based on a concept yaw system for the NREL 5MW wind turbine. The control strategies show a reduction in pressure pulsations under load and it is concluded that the strategie including high......As wind turbines increase in size and the demands for lifetime also increases, new methods of load reduction needs to be examined. One method is to make the yaw system of the turbine soft/flexible and wereby dampen the loads to the system. This paper presents work done on dampening of these loads...

  11. Reliability Design of the City Rail Train Brake System Based on the Axis Control%基于轴控的城轨列车制动系统的可靠性设计

    Institute of Scientific and Technical Information of China (English)

    赵文文; 姚恩涛; 游有鹏; 王辉

    2013-01-01

    压电比例阀是一种新型气动阀,轴控是以列车单轴作为基本控制对象.为提高系统的可靠性,从系统架构出发,分析了轴控制动系统的冗余设计方案;以制动单元为对象,建立了车控制动单元和轴控制动单元的广义随机Petri网(GSPN)的可靠性模型,对两个系统稳态的可靠性进行了对比,为制动系统的进一步完善提供了可靠的数学模型.%The piezoelectric proportional valve is a new type of pneumatic valve, axle control regards the single axle as the basic control object. From the architecture of the system, the redundant design of the axle control brake system is analyzed to improve the system reliability. Based on the brake unit, the reliability model of the vehicle control and axle control brake system of generalized stochastic Petri net( GSPN) is established and the reliability of the system steadiness is compared, which provides reliable mathematical model to improve the brake control system.

  12. 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.

  13. 插电式并联混合动力汽车再生制动控制策略%Control Strategy of Regenerative Braking for Plug-in Parallel Hybrid Electric Vehicles

    Institute of Scientific and Technical Information of China (English)

    陈泽宇; 杨英; 王新超; 吕明

    2016-01-01

    再生制动是混合动力汽车区别于传统汽车的技术特点,是提高车辆燃油经济性的重要措施之一。以一种轴间力矩耦合的插电式并联混合动力汽车为研究对象,从再生制动分配算法的影响因素入手,提出了一种带有模糊控制的混合动力汽车再生制动能量管理策略。所设计的控制策略主要针对两个层面的控制决策,顶层是轴间制动力矩的分配决策,底层是再生制动电机所在的后轴力矩在摩擦制动与再生制动之间的分配决策。采用多种典型车辆行驶工况对所提出的模糊控制策略进行仿真研究。结果表明,所提出的模糊控制策略能够明显改善车辆的能量回收效果,与传统理想制动力分配曲线控制策略相比,能量回收最多可提高23��44%。%Different from traditional internal combustion engine vehicles, hybrid electric vehicles ( HEVs) have regenerative braking capability to improve fuel economy. Taking a plug-in parallel HEV with axles torque coupling as the research object, the influences of regenerative braking were analyzed. A regenerative braking control strategy using fuzzy control was then proposed. The presented strategy was to make two-layers control decision. The braking torque was allocated between the front axle and rear axle in the top layer, while the algorithm in bottom layer split the rear axle braking torque between mechanical braking and electric braking. The strategy was evaluated in a simulation study using several typical driving cycles. The results show that the as-proposed fuzzy control strategy can significantly improve the effect of energy recovery up to 23��44% , compared with that of the traditional ideal braking force distribution curve strategy.

  14. Design of hydraulic output Stirling engine

    Science.gov (United States)

    Toscano, W. M.; Harvey, A. C.; Lee, K.

    1983-01-01

    A hydraulic output system for the RE-1000 free piston stirling engine (FPSE) was designed. The hydraulic output system can be readily integrated with the existing hot section of RE-1000 FPSE. The system has two simply supported diaphragms which separate the engine gas from the hydraulic fluid, a dynamic balance mechanism, and a novel, null center band hydraulic pump. The diaphragms are designed to endure more than 10 billion cycles, and to withstand the differential pressure load as high as 14 MPa. The projected thermodynamic performance of the hydraulic output version of RE-1000 FPSE is 1.87 kW at 29/7 percent brake efficiency.

  15. DERIVATION AND INTEGRAL SLIDING MODE VARIABLE STRUCTURE CONTROL OF HYDRAULIC VELOCITY TRACKING SYSTEM

    Institute of Scientific and Technical Information of China (English)

    Wei Jianhua; Guan Cheng

    2005-01-01

    The velocity tracking control of a hydraulic servo system is studied. Since the dynamics of the system are highly nonlinear and have large extent of model uncertainties, such as big changes in load and parameters, a derivation and integral sliding mode variable structure control scheme (DI-SVSC) is proposed. An integral controller is introduced to avoid the assumption that the derivative of desired signal must be known in conventional sliding mode variable structure control, a nonlinear derivation controller is used to weaken the chattering of system. The design method of switching function in integral sliding mode control, nonlinear derivation coefficient and controllers of DI-SVSC is presented respectively. Simulation shows that the control approach is of nice robustness and improves velocity tracking accuracy considerably.

  16. 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.

  17. Realization of tin freezing point using a loop heat pipe-based hydraulic temperature control technique

    Science.gov (United States)

    Joung, Wukchul; Gam, Kee Sool; Kim, Yong-Gyoo

    2015-10-01

    In this work, the freezing point of tin (Sn FP) was realized by inside nucleation where the supercooling of tin and the reheating of the sample after the nucleation were achieved without extracting the cell from an isothermal apparatus. To this end, a novel hydraulic temperature control technique, which was based on the thermo-hydraulic characteristics of a pressure-controlled loop heat pipe (LHP), was employed to provide a slow cooling of the sample for deep supercooling and fast reheating after nucleation to minimize the amount of initial freeze of the sample. The required temperature controls were achieved by the active pressure control of a control gas inside the compensation chamber of the pressure-controlled LHP, and slow cooling at  -0.05 K min-1 for the deep supercooling of tin and fast heating at 2 K min-1 for reheating the sample after nucleation was attained. Based on this hydraulic temperature control technique, the nucleation of tin was realized at supercooling of around 19 K, and a satisfactorily fast reheating of the sample to the plateau-producing temperature (i.e. 0.5 K below the Sn FP) was achieved without any temperature overshoots of the isothermal region. The inside-nucleated Sn FP showed many desirable features compared to the Sn FP realized by the conventional outside nucleation method. The longer freezing plateaus and the better immersion characteristics of the Sn FP were obtained by inside nucleation, and the measured freezing temperature of the inside-nucleated Sn FP was as much as 0.37 mK higher than the outside-nucleated Sn FP with an expanded uncertainty of 0.19 mK. Details on the experiment are provided and explanations for the observed differences are discussed.

  18. A compound control strategy combining velocity compensation with ADRC of electro-hydraulic position servo control system.

    Science.gov (United States)

    Gao, Bingwei; Shao, Junpeng; Yang, Xiaodong

    2014-11-01

    In order to enhance the anti-jamming ability of electro-hydraulic position servo control system at the same time improve the control precision of the system, a compound control strategy that combines velocity compensation with Active Disturbance Rejection Controller (ADRC) is proposed, and the working principle of the compound control strategy is given. ADRC controller is designed, and the extended state observer is used for observing internal parameters uncertainties and external disturbances, so that the disturbances of the system are suppressed effectively. Velocity compensation controller is designed and the compensation model is derived to further improve the positioning accuracy of the system and to achieve the velocity compensation without disturbance. The compound control strategy is verified by the simulation and experiment respectively, and the simulation and experimental results show that the electro-hydraulic position servo control system with ADRC controller can effectively inhibit the external disturbances, the precise positioning control is realized after introducing the velocity compensation controller, and verify that the compound control strategy is effective.

  19. Global asymptotic stabilization of large-scale hydraulic networks using positive proportional controls

    DEFF Research Database (Denmark)

    Jensen, Tom Nørgaard; Wisniewski, Rafal

    2014-01-01

    An industrial case study involving a large-scale hydraulic network underlying a district heating system subject to structural changes is considered. The problem of controlling the pressure drop across the so-called end-user valves in the network to a designated vector of reference values under......-users. Furthermore, by a proper design of controller gains the closed-loop equilibrium point can be designed to belong to an arbitrarily small neighborhood of the desired equilibrium point. Since there exists a globally asymptotically stable equilibrium point independently on the number of end-users in the system...

  20. Braking System Modeling and Brake Temperature Response to Repeated Cycle

    Directory of Open Access Journals (Sweden)

    Zaini Dalimus

    2014-12-01

    Full Text Available Braking safety is crucial while driving the passenger or commercial vehicles. Large amount of kinetic energy is absorbed by four brakes fitted in the vehicle. If the braking system fails to work, road accident could happen and may result in death. This research aims to model braking system together with vehicle in Matlab/Simulink software and measure actual brake temperature. First, brake characteristic and vehicle dynamic model were generated to estimate friction force and dissipated heat. Next, Arduino based prototype brake temperature monitoring was developed and tested on the road. From the experiment, it was found that brake temperature tends to increase steadily in long repeated deceleration and acceleration cycle.

  1. A novel high-temperature and high-pressure hydraulic pump based on mononeuron control

    Institute of Scientific and Technical Information of China (English)

    Linhui ZHAO; Xin FANG

    2009-01-01

    Based on structures and characteristics of traditional hydraulic pumps, this paper proposes a novel high-temperature and high-pressure hydraulic pump (HHHP) that can work under 150℃ and 28MPa to overcome problems of traditional high-temperature plun-ger pumps. The HHHP is designed with the structure of mechanical division and double cylinder parallel. The control signals of two cylinders are two separate triangle waveforms with 90℃ phase difference. Because the output waveforms of two cylinders have the same characteristics as the control signals, the HHHP can obtain a stable output after two separate waveforms are superposed. A mono-neuron self-adaptive PID control algorithm is also improved by modifying parameters K and η. Two improved controllers are used to control the two cylinders,respectively, making two displacements of plungers match each other. Therefore, reduced fluctuations and stable pressure output is obtained. Besides simulation, tests on the built prototype test system are carried out to verify the performance of HHHP. Results show that the improved control approach can limit fluctuations to a lower level and the HHHP system attains good outputs under different signal periods and different pressures.

  2. 重型内燃牵引车双回路制动系统的设计和研究%Design and Research of Two-Circuit Braking System in Heavy Motor Tractor

    Institute of Scientific and Technical Information of China (English)

    张瑜

    2015-01-01

    介绍了双回路气制动系统在内燃牵引车如何有效地应用。该系统通过使用液压元件和气压元件,保证当一个制动回路失灵后,第二个制动回路能正常工作。同时在两套管路中设置比例阀,分别调节前后制动器分泵压力,使每个车轮有合适的制动力,充分利用整车附着力,使得工程车辆既能达到最大的制动力,保证整车安全可靠性。气源通过气制动控制系统与制动泵相连接,能够实现牵引的挂车制动的远程集中控制。同时利用重型卡车成熟的气制动控制元件和叉车成熟的液压制动执行元件,满足了港口牵引车的制动安全性、结构的紧凑性,又能够实现牵引的挂车制动的远程集中控制,具有很好的拓展性。%This article introduces the effective implication of two-circuit braking system in internal combustion tractor. This system uses hydraulic components and pneumatic components to make sure the second circuit braking system is in working or-der when the first fails. Meanwhile, proportional valves are installed in both circuits to adjust the pressure of front and rear brakes. Therefore, each wheel has appropriate brake force. By taking advantages of friction, the vehicle can achieve the maxi-mum braking force which ensures safety and reliability. Air source is connected with the brake pump through air braking con-trol system, thus to realize the remote centralized control of the braking of trailer. Moreover, it applies mature air brake com-ponents of heavy truck and mature hydraulic components of forklift truck. So that it satisfies braking safety and structural com-pactness, which has favorable expansibility.

  3. Control concept for a hybrid engine test device composed of a water vortex brake and an asynchronous machine; Regelungskonzept fuer einen Hybrid-Motorenpruefstand

    Energy Technology Data Exchange (ETDEWEB)

    Maeenpaeae, A. [ABB Automation Products, Mannheim (Germany); Fischer, G. [Technische Univ. Darmstadt (Germany)

    2000-07-01

    New environmental laws require lower exhaust limits of motor vehicles all over the world. To test these limits, drive-cycle tests are performed on engine test devices. Future laws will require the simulation od downhill driving, which requires extensive changes to the engine test devices. Hybrid test devices with a water vortex brake and an asynchronous machine could be advantageous. A new control concept for those hybrid test devices is described here. (orig.) [German] Neue Umweltgesetze druecken weltweit die Abgasgrenzwerte von Automobilen nach unten. Zur Ueberpruefung dieser Grenzwerte dienen Fahrzyklus-Testreihen auf Motorenpruefstaenden. Kuenftige Vorschriften erfordern dabei bald die Simulation des 'Schiebebetriebs' (wie bei Bergabfahrten). Das erfordert aufwendige Umruestungen bei den Motorenpruefstaenden. Eine preisguenstige Loesung stellen Hybrid-Pruefstaende aus einer Wasserwirbelbremse und einer Asynchron-Maschine dar. Ein neues Regelkonzept dafuer wird hier beschrieben. (orig.)

  4. Study on Train Braking Deceleration Feedback Control Based on Adaptive Parameter Estimation%基于自适应参数估计的列车制动减速度控制

    Institute of Scientific and Technical Information of China (English)

    吴萌岭; 罗卓军

    2015-01-01

    Based on an adaptive parameter estimation method ,a novel deceleration feedback controller was devel‐oped to deal with the uncertain parameters during the braking process of a train ,which have significant influ‐ence on the actual braking deceleration .The novel deceleration feedback controller was verified via a hardware‐in‐the‐loop semi‐physical simulation test bench . Test results suggested that the novel deceleration feedback controller was able to effectively improve the robustness of the brake control system to the uncertain parame‐ters of the train operation .The deceleration feedback controller was able to calculate the actual value of the friction coefficient of a brake shoe w hen the actual friction coefficient of the brake shoe deviated from the preset value in the brake control system ,thereby improving the tracking performance of the actual braking decelera‐tion to target deceleration .When a train was running on a track with slope gradient between ± 30‰ ,the decel‐eration feedback controller calculated the gradient value correctly .Deceleration tracking error reduced from ± 0 .3 m/s2 to ± 0 .1 m/s2 compared with the conventional controllers .The deceleration feedback controller managed the braking performance of the conventional controllers without using the pressure information from the air spring to calculate the brake weight of a train ,which facilitated the redesign of the pneumatic hardware of the brake system .%针对列车制动实际减速度有重要影响的不确定参数,提出基于自适应参数估计的新型减速度控制模式。通过硬件在环半实物仿真试验平台进行试验验证。试验结果表明新型减速度控制算法有效提高了制动控制系统对列车运行不确定参数的鲁棒性。当实际闸瓦摩擦系数偏离制动控制系统预设值时,减速度控制器可以估计出闸瓦摩擦系数的实际值,提高了实际减速度对目标减速度的跟踪效果

  5. 49 CFR 393.52 - Brake performance.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 5 2010-10-01 2010-10-01 false Brake performance. 393.52 Section 393.52... NECESSARY FOR SAFE OPERATION Brakes § 393.52 Brake performance. (a) Upon application of its service brakes... braking force is measured by a performance-based brake tester which meets the requirements of...

  6. Integrating a piezoelectric actuator with mechanical and hydraulic devices to control camless engines

    Science.gov (United States)

    Mercorelli, Paolo; Werner, Nils

    2016-10-01

    The paper deals with some interdisciplinary aspects and problems concerning the actuation control which occur in the integration of a piezoelectric structure in an aggregate actuator consisting of a piezoelectric, a stroke ratio displacement, a mechanical and a hydraulic part. Problems like compensation of the piezo hysteresis effect, scaling force-position to obtain an adequate displacement of the actuator and finally the control of such a complex aggregate system are considered and solved. Even though this work considers a particular application, the solutions proposed in the paper are quite general. In fact, the considered technical aspects occurring in systems which utilize piezoelectric technologies can be used in a variegated gamma of actuators integrating piezoelectric technologies. A cascade controller is proposed to combine a Feedforward action with an internal and an external PI-Controller. The Feedforward Controller is based on the model of the whole actuator, so particular attention is paid to the model structure. The resulting Feedforward action is an adaptive one to compensate hydraulic pressure faults. Real measurements are shown.

  7. Regenerative braking control technology for wheel-side electric driving system%轮边电力驱动系统再生制动控制技术研究

    Institute of Scientific and Technical Information of China (English)

    卞永明; 兰皓; 蒋佳; 李生博; 吴昊; 金晓林

    2011-01-01

    轮边电力驱动系统中的再生制动系统主要涉及制动能量分配控制技术和再生制动能量回收控制技术.轮边电力驱动工程机械采用双向DC/DC变换器,结合电压电流双闭环控制实现超级电容的储能,从而控制再生制动能量的回收.通过MATLAB建模仿真表明,在满足安全制动的前提下,能够实现最大化的能量回收.%The regenerative braking system of wheel-side electric driving system mainly comprises the control technologies for braking energy distribution and regenerative energy recovery. To control the regenerative braking energy recovery, a bi-directional DC/DC converter, together with a double closedloop voltage-current control, is applied for super-capacitor energy storage of relevant construction machinery. By employing MatlabTM modeling and simulation, it is indicated that the energy recovery maximization could be realized to meet the demand on braking safety.

  8. 无模型自适应控制在飞机防滑刹车中的应用%Application of Model Free Control Technology on the Aircraft Anti-skid Brake Systems

    Institute of Scientific and Technical Information of China (English)

    时伟; 刘文胜; 陈建群

    2012-01-01

    Considering the complexity and nonlinear of aircraft antiskid braking system, by analyzing the principle of aircraft anti -skid braking system, an aircraft anti-skid brake control algorithm based on model free adaptive control is presented. Not need to establish accurate dynamic model, the method can achieve optimal slip ratio control by using the information of braking system input and output. Simulation results show that the control scheme based on model free adaptive control achieve stable slip rate within five seconds, and provides a new way of improving the efficiency of the aircraft brake.%针对飞机防滑刹车系统的复杂性和非线性,在分析滑移率控制式飞机防滑刹车系统的工作原理基础上,提出了一种基于无模型自适应控制的飞机防滑刹车控制算法;该算法无需精确的动力学模型,直接利用输入输出信息实现飞机防滑刹车的最佳滑移率控制;仿真结果表明:采用无模自适应防滑刹车控制算法,在5s之内就能获得稳定的滑移率,为提高飞机刹车的效率提供了一条新的思路.

  9. A switched energy saving position controller for variable-pressure electro-hydraulic servo systems.

    Science.gov (United States)

    Tivay, Ali; Zareinejad, Mohammad; Rezaei, S Mehdi; Baghestan, Keivan

    2014-07-01

    The electro-hydraulic servo system (EHSS) demonstrates a relatively low level of efficiency compared to other available actuation methods. The objective of this paper is to increase this efficiency by introducing a variable supply pressure into the system and controlling this pressure during the task of position tracking. For this purpose, an EHSS structure with controllable supply pressure is proposed and its dynamic model is derived from the basic laws of physics. A switching control structure is then proposed to control both the supply pressure and the cylinder position at the same time, in a way that reduces the overall energy consumption of the system. The stability of the proposed switching control system is guaranteed by proof, and its performance is verified by experimental testing.

  10. 一种汽车盘式电磁制动器的研制%Research and manufacture of electromagnetic brake disc on automobile

    Institute of Scientific and Technical Information of China (English)

    龙云梅; 林秋逢; 曾竞; 何荣欣; 彭马保; 曾文高; 陈伟涛

    2013-01-01

    为解决目前汽车液压制动系统存在结构复杂、质量大、能源消耗大等问题,将电磁制动技术应用到汽车制动系统中.开展了盘式电磁制动器增力机构建模和应力仿真分析,建立了制动踏板行程与电流大小以及制动力之间的对应关系,提出了以电磁铁作为动力源,通过增力机构把电磁力放大到预期制动力推动摩擦片工作而实现汽车制动的方法;在理论分析和试验的基础上对电磁力控制、汽车防抱死性能、制动热稳定性等多方面进行了评价;对实体模型的制动稳定性、电磁力随衔铁与铁芯之间距离的变化关系、电磁线圈通电电流与踏板行程之间的变化关系等进行了试验.试验结果表明:电磁铁力达到780 N,制动系统反应时间为0.019 6 s,均符合汽车制动要求;电磁制动系统相比液压制动系统具有反应迅速、结构简单以及更易于集成化和远程控制等特点.%In order to solve the problem of the hydraulic brake system of automobile for its complicate structure, heavy weight and great drain on the resources, the electromagnetic brake technology was applied to the automobiles. After the analysis of disc electromagnetic brake reinforcement structure modeling and stress simulation, the corresponding relationship between the brake pedal travel, current size and braking force was established. A method was presented that taking electromagnetic as the power source and through the reinforcement structure enlarge the electromagnetic force to the expected brake force and drive the friction brake to make the car brake become true. Based on theoretically calculation and experiment, the control of electromagnetic force, ABS performance and the thermal stability of the brake were evaluated. On the solid model, the stability of electromagnetic brake, the varing of the electromagnetic force between the distance of gag bit and iron core, the varing between the current of the

  11. 49 CFR 571.116 - Standard No. 116; Motor vehicle brake fluids.

    Science.gov (United States)

    2010-10-01

    ... butadiene rubber (SBR), ethylene and propylene rubber (EPR), polychloroprene (CR) brake hose inner tube... whom he delivers brake fluid, the following information: (a) A serial number identifying the production... humidified under controlled conditions; 350 ml. of SAE triethylene glycol monomethyl ether, brake fluid grade...

  12. Experimental validation of microseismic emissions from a controlled hydraulic fracture in a synthetic layered medium

    Science.gov (United States)

    Roundtree, Russell

    A controlled hydraulic fracture experiment was performed on two medium sized (11" x 11" x 15") synthetic layered blocks of low permeability, low porosity Lyons sandstone sandwiched between cement. The purpose of the research was to better understand and characterize the fracture evolution as the fracture tip impinged upon the layer boundaries between the well bonded layers. It is also one of the first documented uses of passive microseismic used in a laboratory environment to characterize hydraulic fracturing. A relatively low viscosity fluid of 1000 centipoise, compared to properly scaled previous work (Casas 2005, and Athavale 2007), was pumped at a constant rate of 10 mL/minute through a steel cased hole landed and isolated in the sandstone layer. Efforts were made to contain the hydraulic fracture within the confines of the rock specimen to retain the created hydraulic fracture geometry. Two identical samples and treatment schedules were created and differed only in the monitoring system used to characterize the microseismic activity during the fracture treatment. The first block had eight embedded P-wave transducers placed in the sandstone layer to record the passive microseismic emissions and localize the location and time of the acoustic event. The second block had six compressional wave transducers and twelve shear wave transducers embedded in the sandstone layer of the block. The intention was to record and process the seismic data using conventional P-wave to S-wave difference timing techniques well known in industry. While this goal ultimately not possible due to the geometry of the receiver placements and the limitations of the Vallene acquisition processing software, the data received and the events localized from the 18 transducer test were of much higher numbers and quality than on the eight transducer test. This experiment proved conclusively that passive seismic emission recording can yield positive results in the laboratory. Just as in the field

  13. 一种电动汽车用制动能量回收控制器的设计%Design of a New Regenerative Braking Controller for Electric Vehicle

    Institute of Scientific and Technical Information of China (English)

    全力; 顾剑波; 朱孝勇; 陈燎; 张德望

    2011-01-01

    The energy reclaiming scheme of composite power by using the super capacitor as energy storage element to realize the regenerative braking of electric vehicles was put forward. A kind of regenerative braking controller of electric vehicle based on digital PID control technology and megal6 microcontroller of ATMEL corporation was designed. The principle of regenerative braking as well as main circuit of controller, signal acquisition, and each work module written with C language were introduced. The test result indicates that the regenerative braking controller based on PID theory has a very good adjustment of PWM of duty cycle when charge and discharge current changing with voltage, and energy recovery system is confirmed to be able to recycle the electric automobile regenerative braking energy well.%提出了利用超级电容作为制动能量回收储能容器的复合电源方案,并针对ATMEL公司mega16单片机,应用数字PID控制算法,设计了一种可应用于纯电动汽车的制动能量回收控制器模块.介绍了再生制动的原理及其控制器主电路与信号采集电路,以及用C语言编写的各工作模块.试验调试结果表明,充、放电电流随电压变化时,数字PID控制策略能很好地调节PWM占空比的合理变化,并验证了此制动能量回收系统可以有效地回收电动汽车再生制动能量.

  14. Error Analysis and Compensation Method on the Mechanical Structure of the Hydraulic Control System

    Directory of Open Access Journals (Sweden)

    Luo Yanyan

    2016-01-01

    Full Text Available Mechanical deformation of mechanical transmission part in hydraulic control system directly affects the loading accuracy of the system. For improving the mechanical properties of the system, The force analysis and motion analysis of mechanism are simulated based on the four-bar linkage structure (FLS, and kinematics simulation is designed by using Matlab program, then came to a system error bar graph. The system error was calculated accurately according to the results of the structural mechanics simulation made by Solidworks motion module. The structure of the system will be modified when systematic errors exceed the required limit values until it reach the required value.

  15. Proportional-integral-derivative control of nonlinear half-car electro-hydraulic suspension systems

    Institute of Scientific and Technical Information of China (English)

    John E.D.EKORU; Jimoh O.PEDRO

    2013-01-01

    This paper presents the development of a proportional-integral-derivative (PID)-based control method for application to active vehicle suspension systems (AVSS).This method uses an inner PID hydraulic actuator force control loop,in combination with an outer PID suspension travel control loop,to control a nonlinear half-car AVSS.Robustness to model uncertainty in the form of variation in suspension damping is tested,comparing performance of the AVSS with a passive vehicle suspension system (PVSS),with similar model parameters.Spectral analysis of suspension system model output data,obtained by performing a road input disturbance frequency sweep,provides frequency response plots for both nonlinear vehicle suspension systems and time domain vehicle responses to a sinusoidal road input disturbance on a smooth road.The results show the greater robustness of the AVSS over the PVSS to parametric uncertainty in the frequency and time domains.

  16. Optimal Control for a Parallel Hybrid Hydraulic Excavator Using Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Dong-yun Wang

    2013-01-01

    Full Text Available Optimal control using particle swarm optimization (PSO is put forward in a parallel hybrid hydraulic excavator (PHHE. A power-train mathematical model of PHHE is illustrated along with the analysis of components’ parameters. Then, the optimal control problem is addressed, and PSO algorithm is introduced to deal with this nonlinear optimal problem which contains lots of inequality/equality constraints. Then, the comparisons between the optimal control and rule-based one are made, and the results show that hybrids with the optimal control would increase fuel economy. Although PSO algorithm is off-line optimization, still it would bring performance benchmark for PHHE and also help have a deep insight into hybrid excavators.

  17. 串联型液压混合动力车辆节能控制策略%Control strategy of energy-saving for a series connected hydraulic hybrid vehicle

    Institute of Scientific and Technical Information of China (English)

    伍迪; 姚进; 韩嘉骅; 李华

    2013-01-01

    With the rising concerns about global environmental issues, energy saving in automobiles becomes a very important subject. In recent years, fuel consumption by heavy vehicles grew faster due to the increasing number of heavy vehicles used for transportation. As a result, it is important to save fuel by improving their hydraulic system. The series hydraulic hybrid drive system is more effective than the traditional hydraulic system because of the higher recurperation energy generated by the system. Therefore, in order to reduce energy consumption and exhaust emissions of the heavy vehicle, the series hydraulic hybrid drive system of the heavy vehicles was designed to recover and reuse the energy lost in braking. In this paper, in comparison with the traditional hydraulic drive system, a high-pressure accumulator and a low-pressure accumulator were added in the series hydraulic hybrid drive system. The high-pressure accumulator works as an energy storage system and a power supply, and the low-pressure accumulator works as the tank to supply oil to the system. For an exact description of the working state of the accumulator, the Beattie-Bridgman equation was used to express the pressure of gas in the accumulator. The mathematical models of the pump and the secondary element were established to describe the dynamic working process of them in consideration of the compressibility character of fluid, the pipe pressure loss, the external and internal leakage of the system. According to the higher power density characteristic of hydraulic hybrid system and the frequent starts/stops operation characteristics of the heavy vehicle, an integrated control strategy for the heavy vehicle with series hydraulic hybrid system was proposed. Using the functions of Matlab/Simulink, the simulation block diagram of the control system was set up based on the mathematical model established and the control strategy designed. The control system consisted of a main control unit, a displacement

  18. Hydraulic Equalizing Valve with Total Power Control%液压泵总功率控制的均压阀

    Institute of Scientific and Technical Information of China (English)

    杨莽; 王林

    2016-01-01

    The design and practical use of the hydraulic system, the two variable piston pump together in the same hydraulic system and to ensure consistency and to achieve the two hydraulic displacement of the total power control. The general use of two cross-pump control mode, the disadvantage is that the two hydraulic control cross consistency and total power control is poor, and it is difficult to ensure the con-sistency of the two hydraulic pumps. In this paper, by designing a pressure equalization valve to achieve the two hydraulic control. The re-sults showed that the equalizing valve can well ensure the consistency of the two hydraulic pumps and total power control.%在液压系统的设计和实际使用过程中,两台变量柱塞液压泵共同作用于同一液压系统并保证两台液压泵排量一致且要实现总功率控制.目前一般采用两台液压泵交叉控制的方式,交叉控制的缺点是两台液压泵的一致性和总功率控制效果差,且很难保证两台液压泵的一致性.该文通过设计一种均压阀,来实现两台液压泵的控制.结果表明,均压阀能够很好地保证两台液压泵的一致性和总功率控制.

  19. The development of radiation hardened robot for nuclear facility - Development of embedded controller for hydraulic robot

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung Kook; Kim, Jae Kwon [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    2000-04-01

    We designed and implemented a reliable hierarchical control system for hydraulic robots for nuclear power plant maintenance. In hazardous environments such as nuclear power plants, robot systems or automated equipment should be used instead of human being for maintenance and repair. Such robot should guarantee high reliability in hazardous environments such as high radiation or high temperature. The overall system is composed of three hierarchical subsystems: i) supervisory controller in safe zone for operator interaction with monitoring and commanding and graphic user interface, ii) master controller in semi-hazardous zone for control function, and iii) slave controller in hazardous zone for sensing and actuation. These subsystems are connected with suitable communication channels: a) master-slave communication channel implemented with CAN (Control Area Network) and b) supervisory-master communication with Ethernet. The master and the slave controllers construct a feedback closed-loop control system. In order to improve reliability, the slave controller is duplicated using cold-standby scheme, and master-slave communication channel is also duplicated. The overall system is implemented harmonically, and we obtained fast control interval of 1msec, which is sufficient for high-performance real-time control. 12 refs., 58 figs., 13 tabs. (Author)

  20. A practical nonlinear robust control approach of electro-hydraulic load simulator

    Institute of Scientific and Technical Information of China (English)

    Wang Chengwen; Jiao Zongxia; Wu Shuai; Shang Yaoxing

    2014-01-01

    This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator (EHLS). The tracking performance of the EHLS is mainly limited by the actuator’s motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator’s disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The devel-oped algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simula-tion and experiments are performed to verify the effectiveness of this method.

  1. Global stabilisation of large-scale hydraulic networks with quantised and positive proportional controls

    DEFF Research Database (Denmark)

    Jensen, Tom Nørgaard; Wisniewski, Rafal

    2013-01-01

    The problem considered here is output regulation of a large-scale hydraulic network where the structure of the network is subject to change and where the actuation is subject to a non-negativity constraint. Previous results have shown that semi-global practical output regulation is achievable using...... a set of decentralised, logarithmic quantised and constrained control actions with properly designed quantisation parameters. That is, an attractor set with a compact basin of attraction exists. Subsequently, the basin can be increased by increasing the control gains. In our work, this result...... is extended by showing that an attractor set with a global basin of attraction exists for arbitrary values of positive control gains, given that the upper level of the quantiser is properly designed. Furthermore, the proof is given for general monotone quantisation maps. Since the basin of attraction...

  2. Research of Motorcycle Braking Parameters

    Directory of Open Access Journals (Sweden)

    Loreta Levulytė

    2016-12-01

    Full Text Available From a technical point of view, in dangerous or emergency situation is very important motorcycle driver reaction and vehicle braking time. Motor-cycle deceleration parameters depend not only on the motorcycle brake system, but also on the driving experience. A significant influence on decel-eration the motorcycle has aerodynamic parameters, pavement type and condition, as well as the technical condition of the motocycle, shock absorb-ers, tire type and their technical condition. This article provides an analysis of the motorcycle longitudinal deceleration, braking modes of the mo-torcycle on a dry asphalt road surface. Motorcycle stopping – deceleration – acceleration efficiency issue, stopping in different modes. First ana-lyzed the dynamics of a motorcycle deceleration braking only the front wheel, then braked front and rear wheels and complex – then braked the front and rear wheels at the same time. The goal of experimental study is to determine the influence of braking modes intense fir motorcycle brak-ing deceleration when braking on dry road pavement, at three different braking modes, and set the braking path of change. Motorcycle decelera-tion in the longitudinal direction is an important parameter for analysis traffic accidents, for accident reconstruction process and the examination of motorcyclists technical possibility to avoid an accident.

  3. Heat distribution in disc brake

    Science.gov (United States)

    Klimenda, Frantisek; Soukup, Josef; Kampo, Jan

    2016-06-01

    This article is deals by the thermal analysis of the disc brake with floating caliper. The issue is solved by numerically. The half 2D model is used for solution in program ADINA 8.8. Two brake discs without the ventilation are solved. One disc is made from cast iron and the second is made from stainless steel. Both materials are an isotropic. By acting the pressure force on the brake pads will be pressing the pads to the brake disc. Speed will be reduced (slowing down). On the contact surface generates the heat, which the disc and pads heats. In the next part of article is comparison the maximum temperature at the time of braking. The temperatures of both materials for brake disc (gray cast iron, stainless steel) are compares. The heat flux during braking for the both materials is shown.

  4. Parity space-based fault diagnosis of CCBII braking system

    Institute of Scientific and Technical Information of China (English)

    黄志武; 杨迎泽; 王晶; 李赟

    2013-01-01

    Fault diagnosis is a key issue of the CCBII(computer controlled brake II) braking system, because the CCBII braking system is very complicated and nonlinear, which may exhibit isolated and multi-component coupled faults. A parity space-based method was proposed for fault diagnosis of CCBII braking systems. Firstly, the mathematical models were established according to three function modules of CCBII braking systems where the air fluid theory was utilized. Then, parity vector and threshold function were designed for each output of the system so as to identify more system faults. Fault character matrix was built based on the causal relationship between the output and the fault according to the system function and internal structure. Finally, fault detection and isolation can be realized by the comparison of the observed system output and the fault character matrix. Simulation results show that the proposed method is entirely feasible and effective.

  5. Design optimization of a magnetorheological brake in powered knee orthosis

    Science.gov (United States)

    Ma, Hao; Liao, Wei-Hsin

    2015-04-01

    Magneto-rheological (MR) fluids have been utilized in devices like orthoses and prostheses to generate controllable braking torque. In this paper, a flat shape rotary MR brake is designed for powered knee orthosis to provide adjustable resistance. Multiple disk structure with interior inner coil is adopted in the MR brake configuration. In order to increase the maximal magnetic flux, a novel internal structure design with smooth transition surface is proposed. Based on this design, a parameterized model of the MR brake is built for geometrical optimization. Multiple factors are considered in the optimization objective: braking torque, weight, and, particularly, average power consumption. The optimization is then performed with Finite Element Analysis (FEA), and the optimal design is obtained among the Pareto-optimal set considering the trade-offs in design objectives.

  6. Robust Control of Industrial Hydraulic Cylinder Drives - with Special Reference to Sliding Mode- & Finite-Time Control

    DEFF Research Database (Denmark)

    Schmidt, Lasse

    performance, simple parameter design and robustness in the presence of uncertain parameters- and disturbances, the field of sliding mode control has been investigated. Especially high order sliding mode control methods have been studied, due the intriguing possibility of maintaining the main properties...... of sliding mode control but with continuous control inputs. The applicability of second order modes has been investigated, and modifications of such controls have been developed based on homogeneity principles in order to provide more suitable controllers for hydraulic systems, than conventional second order...... sliding mode types. Also, an extension of the second order sliding algorithm known as the twisting algorithm has been developed, with compensation of local equilibria, and even an arbitrary order sliding mode design has been considered in a future perspective. Experimental results reveal that the model...

  7. Variants of Secondary Control with Power Recovery for Loading Hydraulic Driving Device

    Institute of Scientific and Technical Information of China (English)

    QI Xiaoye

    2015-01-01

    Current high power load simulators are generally incapable of obtalning both high loading performance and high energy efficiency. Simulators with high energy efficiency are used to simulate static-state load, and those with high dynamic performance typically have low energy efficiency. In this paper, the variants of secondary control (VSC) with power recovery are developed to solve this problem for loading hydraulic driving devices that operate under variable pressure, unlike classical secondary control (CSC) that operates in constant pressure network. Hydrostatic secondary control units are used as the loading components, by which the absorbed mechanical power from the tested device is converted into hydraulic power and then fed back into the tested system through 4 types of feedback passages (FPs). The loading subsystem can operate in constant pressure network, controlled variable pressure network, or the same variable pressure network as that of the tested device by using different FPs. The 4 types of systems are defined, and their key techniques are analyzed, including work principle, simulating the work state of original tested device, static operation points, loading performance, energy efficiency, and control strategy, etc. The important technical merits of the 4 schemes are compared, and 3 of the schemes are selected, designed, simulated using AMESim and evaluated. The researching results show that the investigated systems can simulate the given loads effectively, realize the work conditions of the tested device, and furthermore attaln a high power recovery efficiency that ranges from 0.54 to 0.85, even though the 3 schemes have different loading performances and energy efficiencies. This paper proposes several loading schemes that can achieve both high dynamic performance and high power recovery efficiency.

  8. Optimal design of disc-type magneto-rheological brake for mid-sized motorcycle: experimental evaluation

    Science.gov (United States)

    Sohn, Jung Woo; Jeon, Juncheol; Nguyen, Quoc Hung; Choi, Seung-Bok

    2015-08-01

    In this paper, a disc-type magneto-rheological (MR) brake is designed for a mid-sized motorcycle and its performance is experimentally evaluated. The proposed MR brake consists of an outer housing, a rotating disc immersed in MR fluid, and a copper wire coiled around a bobbin to generate a magnetic field. The structural configuration of the MR brake is first presented with consideration of the installation space for the conventional hydraulic brake of a mid-sized motorcycle. The design parameters of the proposed MR brake are optimized to satisfy design requirements such as the braking torque, total mass of the MR brake, and cruising temperature caused by the magnetic-field friction of the MR fluid. In the optimization procedure, the braking torque is calculated based on the Herschel-Bulkley rheological model, which predicts MR fluid behavior well at high shear rate. An optimization tool based on finite element analysis is used to obtain the optimized dimensions of the MR brake. After manufacturing the MR brake, mechanical performances regarding the response time, braking torque and cruising temperature are experimentally evaluated.

  9. Identification and optimization for hydraulic roll gap control in strip rolling mill

    Institute of Scientific and Technical Information of China (English)

    孙杰; 陈树宗; 韩欢欢; 陈兴华; 陈秋捷; 张殿华

    2015-01-01

    In order to improve the control performance of strip rolling mill, theoretical model of the hydraulic gap control (HGC) system was established. HGC system offline identification scheme was designed for a tandem cold strip mill, the system model parameters were identified by ARX model, and the identified model was verified. Taking the offline identified parameters as the initial values, online identification using recursive least square was carried out with model parameters changing. For the purpose of improving system robustness and decreasing the sensitivity due to model errors, the HGC system based on generalized predictive control (GPC) was designed, and simulation experiments for traditional controller and GPC controller were conducted. The results show that both controllers acquire good control effect with model matching. When the model mismatches, for the traditional controller, the overshot will increase to 76.7% and the rising time will increase to 165.7 ms, which cannot be accepted by HGC system; for the GPC controller, the overshot is less than 8.5%, and the rising time is less than 26 ms in any case.

  10. Asbestos free friction composition for brake linings

    Indian Academy of Sciences (India)

    Arnab Ganguly; Raji George

    2008-02-01

    An asbestos free friction material composite for brake linings is synthesized containing fibrous reinforcing constituents, friction imparting and controlling additives, elastomeric additives, fire retarding components and a thermosetting resin. The composite shows exemplary friction characteristics and has great resistance to wear and shows good temperature stability.

  11. Recurrent-neural-network-based identification of a cascade hydraulic actuator for closed-loop automotive power transmission control

    Energy Technology Data Exchange (ETDEWEB)

    You, Seung Han [Hyundai Motor Company, Seoul (Korea, Republic of); Hahn, Jin Oh [University of Alberta, Edmonton (Canada)

    2012-05-15

    By virtue of its ease of operation compared with its conventional manual counterpart, automatic transmissions are commonly used as automotive power transmission control system in today's passenger cars. In accordance with this trend, research efforts on closed-loop automatic transmission controls have been extensively carried out to improve ride quality and fuel economy. State-of-the-art power transmission control algorithms may have limitations in performance because they rely on the steady-state characteristics of the hydraulic actuator rather than fully exploit its dynamic characteristics. Since the ultimate viability of closed-loop power transmission control is dominated by precise pressure control at the level of hydraulic actuator, closed-loop control can potentially attain superior efficacy in case the hydraulic actuator can be easily incorporated into model-based observer/controller design. In this paper, we propose to use a recurrent neural network (RNN) to establish a nonlinear empirical model of a cascade hydraulic actuator in a passenger car automatic transmission, which has potential to be easily incorporated in designing observers and controllers. Experimental analysis is performed to grasp key system characteristics, based on which a nonlinear system identification procedure is carried out. Extensive experimental validation of the established model suggests that it has superb one-step-ahead prediction capability over appropriate frequency range, making it an attractive approach for model-based observer/controller design applications in automotive systems.

  12. Development of Anti-lock Braking System (ABS) for Vehicles Braking

    Science.gov (United States)

    Minh, Vu Trieu; Oamen, Godwin; Vassiljeva, Kristina; Teder, Leo

    2016-11-01

    This paper develops a real laboratory of anti-lock braking system (ABS) for vehicle and conducts real experiments to verify the ability of this ABS to prevent the vehicle wheel from being locked while braking. Two controllers of PID and fuzzy logic are tested for analysis and comparison. This ABS laboratory is designed for bachelor and master students to simulate and analyze performances of ABS with different control techniques on various roads and load conditions. This paper provides educational theories and practices on the design of control for system dynamics.

  13. 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.

  14. Force control compensation method with variable load stiffness and damping of the hydraulic drive unit force control system

    Science.gov (United States)

    Kong, Xiangdong; Ba, Kaixian; Yu, Bin; Cao, Yuan; Zhu, Qixin; Zhao, Hualong

    2016-05-01

    Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit (HDU), and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this

  15. A Study on the Control Strategy for Maximum Energy Recovery by Regenerative Braking in Electric Vehicles%电动汽车最大能量回收再生制动控制策略的研究

    Institute of Scientific and Technical Information of China (English)

    杨亚娟; 赵韩; 朱茂飞

    2013-01-01

    本文中针对一款轻型混合动力汽车进行了再生制动控制策略的研究.首先,以整体效率最高为目标,提出了最大能量回收制动控制策略,并采用序列二次规划法对充电功率进行优化,获得ISG电机优化转矩.接着建立了整车仿真模型,采用模糊控制方法对优化的ISG电机转矩进行跟随控制.分别进行了NEDC循环和3种不同制动力的仿真,得到不同工况下的再生制动能量回收率.最后进行了与仿真工况相应的实车试验,验证了控制策略的有效性.%The regenerative braking control strategy for a light hybrid electric vehicle (LHEV) is studied in this paper. Specifically, a braking control strategy for maximum energy recovery is proposed first with an objective of highest overall efficiency, and the charging powers are optimized by using sequential quadratic programming technique to obtain optimized torque working points of ISG motor. Then a simulation model for LHEV is built, a tracking control is performed over optimized torque of ISG motor with fuzzy control scheme, and a simulation is conducted on three different braking forces respectively with NEDC cycle to obtain energy recovery ratios in regenerative braking. Finally a real vehicle test corresponding to simulation conditions is carried out to verify the effectiveness of control strategy proposed.

  16. 49 CFR 570.56 - Vacuum brake assist unit and vacuum brake system.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 6 2010-10-01 2010-10-01 false Vacuum brake assist unit and vacuum brake system... Vehicles With GVWR of More Than 10,000 Pounds § 570.56 Vacuum brake assist unit and vacuum brake system. The following requirements apply to vehicles with vacuum brake assist units and vacuum brake systems...

  17. Hydraulic Closed Loop Synchronization Control System and Its Application in the Hydraulic Bending Machine%液压闭环同步控制系统在液压式卷板机中的应用

    Institute of Scientific and Technical Information of China (English)

    宋亚林

    2015-01-01

    This paper discusses the hydraulic open loop and closed loop system and its characteristics of synchronous control. The Application of hydraulic closed loop synchronization control system in hydraulic type three roller symmetrical bending machine was introduced in this paper.%论述了液压开环与闭环同步控制系统及其特点,并对液压闭环同步控制系统在液压式三辊对称卷板机中的应用进行了介绍。

  18. 基于AVR单片机的飞机刹车控制盒仿真器的控制系统%Design of Control System for Aircraft Brake Control Box Emulator Based on AVR Microcontroller

    Institute of Scientific and Technical Information of China (English)

    雒名佳; 谢利理; 汪楚锟

    2012-01-01

    对于现代航空刹车数字控制盒的性能及功能要求,提出基于AVR单片机的仿真器控制系统的实现.本系统以AVR单片机为控制核心,通过模数转换器采集刹车电流信号,检测各通道的故障信号.通过控制真实负载和模拟通道的转换完成仿真实验,并实时上传数据作记录.%A new type of the actuator control system based on AVR microcontroller is proposed for the performance and the function of the modern aircraft braking digital box. AVR microcontroller is adopted as the control core, through ADC converter collecting braking current signal, the fault signals of every channel are detected. Simulation is completed by controlling the real load and transforming the analog channels. Meanwhile, the test data are uploaded and recorded in real time

  19. Analysis of Dither in PWM Control on Electro-hydraulic Proportional Valve

    Directory of Open Access Journals (Sweden)

    Guoping LIU

    2013-11-01

    Full Text Available Plus with modulation (PWM is widely used in proporational control systems for it is efficient, flexible and anti-interference. Due to the friction and hysteresis of electromagnet, hysteresis exists when hydraulic valve in steady-state, and hysteresis influences the dynamic characteristics of the valve seriously,the hysteresis can be improved by superimposing dithers with certain frequency and amplitude to the valve coil. Aiming at the character of anti-unloading power driver circuit ,this paper analyzed the parasitic dither which exists in ±24V PWM control,besides,the experiment shows that in a high frequency PWM, dither with independent frequency and amplitude can be generated by changing the frequency of the PWM, in this way, the dithers  and average current of coil  can be adjusted separately by changing PWM frequency and PWM duty cycle.  

  20. Robust Control for Static Loading of Electro-hydraulic Load Simulator with Friction Compensation

    Institute of Scientific and Technical Information of China (English)

    YAO Jianyong; JIAO Zongxia; YAO Bin

    2012-01-01

    Load simulator is a key test equipment for aircraft actuation systems in hardware-in-the-loop-simulation.Static loading is an essential function of the load simulator and widely used in the static/dynamic stiffness test of aircraft actuation systems.The tracking performance of the static loading is studied in this paper.Firstly,the nonlinear mathematical models of the hydraulic load simulator are derived,and the feedback linearization method is employed to construct a feed-forward controller to improve the force tracking performance.Considering the effect of the friction,a LuGre model based friction compensation is synthesized,in which the unmeasurable state is estimated by a dual state observer via a controlled learning mechanism to guarantee that the estimation is bounded.The modeling errors are attenuated by a well-designed robust controller with a control accuracy measured by a design parameter.Employing the dual state observer is to capture the different effects of the unmeasured state and hence can improve the friction compensation accuracy.The tracking performance is summarized by a derived theorem.Experimental results are also obtained to verify the high performance nature of the proposed control strategy.

  1. Seismic Proofing Capability of the Accumulated Semiactive Hydraulic Damper as an Active Interaction Control Device with Predictive Control

    Directory of Open Access Journals (Sweden)

    Ming-Hsiang Shih

    2016-01-01

    Full Text Available The intensity of natural disasters has increased recently, causing buildings’ damages which need to be reinforced to prevent their destruction. To improve the seismic proofing capability of Accumulated Semiactive Hydraulic Damper, it is converted to an Active Interaction Control device and synchronous control and predictive control methods are proposed. The full-scale shaking table test is used to test and verify the seismic proofing capability of the proposed AIC with these control methods. This study examines the shock absorption of test structure under excitation by external forces, influences of prediction time, stiffness of the auxiliary structure, synchronous switching, and asynchronous switching on the control effects, and the influence of control locations of test structure on the control effects of the proposed AIC. Test results show that, for the proposed AIC with synchronous control and predictive control of 0.10~0.13 seconds, the displacement reduction ratios are greater than 71%, the average acceleration reduction ratios are, respectively, 36.2% and 36.9%, at the 1st and 2nd floors, and the average base shear reduction ratio is 29.6%. The proposed AIC with suitable stiffeners for the auxiliary structure at each floor with synchronous control and predictive control provide high reliability and practicability for seismic proofing of buildings.

  2. Application of second order sliding mode algorithms for output feedback control in hydraulic cylinder drives with profound valve dynamics

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Andersen, Torben O.

    2016-01-01

    The application of second order sliding mode algorithms for output feedback control in hydraulic valve-cylinder drives appear attractive due to their simple realization and parametrization, and strong robustness toward bounded parameter variations and uncertainties. However, intrinsic nonlinear...... input signals. The application of some popular second order sliding mode controllers and their smooth counterparts are analyzed and experimentally verified. The controllers are considered for output feedback control and compared with a conventional PI control approach. The controllers under...... consideration are applied for position tracking control of a hydraulic valve-cylinder drive exhibiting strong variations in inertia- and gravitational loads, and furthermore suffer from profound valve dynamics. Results demonstrate that both the twisting- and super twisting algorithms may be successfully applied...

  3. Incorporating Artificial Neural Networks in the dynamic thermal-hydraulic model of a controlled cryogenic circuit

    Science.gov (United States)

    Carli, S.; Bonifetto, R.; Savoldi, L.; Zanino, R.

    2015-09-01

    A model based on Artificial Neural Networks (ANNs) is developed for the heated line portion of a cryogenic circuit, where supercritical helium (SHe) flows and that also includes a cold circulator, valves, pipes/cryolines and heat exchangers between the main loop and a saturated liquid helium (LHe) bath. The heated line mimics the heat load coming from the superconducting magnets to their cryogenic cooling circuits during the operation of a tokamak fusion reactor. An ANN is trained, using the output from simulations of the circuit performed with the 4C thermal-hydraulic (TH) code, to reproduce the dynamic behavior of the heated line, including for the first time also scenarios where different types of controls act on the circuit. The ANN is then implemented in the 4C circuit model as a new component, which substitutes the original 4C heated line model. For different operational scenarios and control strategies, a good agreement is shown between the simplified ANN model results and the original 4C results, as well as with experimental data from the HELIOS facility confirming the suitability of this new approach which, extended to an entire magnet systems, can lead to real-time control of the cooling loops and fast assessment of control strategies for heat load smoothing to the cryoplant.

  4. 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.

  5. Trends in Modelling, Simulation and Design of Water Hydraulic Systems – Motion Control and Open-Ended Solutions

    DEFF Research Database (Denmark)

    Conrad, Finn

    2006-01-01

    The paper presents and discusses a R&D-view on trends in development and best practise in modelling, simulation and design of both low-pressure and high-pressure tap water hydraulic components and systems for motion control as well as open-ended solutions various industrial applications. The focus...

  6. Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Melters; Hansen, Michael Rygaard; Ballebye, Morten

    2010-01-01

    This paper describes the implementation of an interactive real-time dynamic simulation model of a hydraulic crane. The user input to the model is given continuously via joystick and output is presented continuously in a 3D animation. Using this simulation model, a tool point control scheme...

  7. Clutches and brakes design and selection

    CERN Document Server

    Orthwein, William C

    2004-01-01

    FRICTION MATERIALSFriction CodeWearBrake FadeFriction MaterialsNotationReferencesBAND BRAKESDerivation of EquationsApplicationLever-Actuated Band Brake: Backstop DesignExample: Design of a BackstopNotationFormula CollectionReferencesEXTERNALLY AND INTERNALLY PIVOTED SHOE BRAKESPivoted External Drum BrakesPivoted Internal Drum BrakesDesign of Dual-Anchor Twin-Shoe Drum BrakesDual-Anchor Twin-Shoe Drum Brake Design ExamplesDesign of Single-Anchor Twin-Shoe Drum BrakesSingle-Anchor Twin-Shoe Drum Brake Design Exam

  8. Friction compensation for low velocity control of hydraulic flight motion simulator: A simple adaptive robust approach

    Institute of Scientific and Technical Information of China (English)

    Yao Jianyong; Jiao Zongxia; Han Songshan

    2013-01-01

    Low-velocity tracking capability is a key performance of flight motion simulator (FMS),which is mainly affected by the nonlinear friction force.Though many compensation schemes with ad hoc friction models have been proposed,this paper deals with low-velocity control without friction model,since it is easy to be implemented in practice.Firstly,a nonlinear model of the FMS middle frame,which is driven by a hydraulic rotary actuator,is built.Noting that in the low velocity region,the unmodeled friction force is mainly characterized by a changing-slowly part,thus a simple adaptive law can be employed to learn this changing-slowly part and compensate it.To guarantee the boundedness of adaptation process,a discontinuous projection is utilized and then a robust scheme is proposed.The controller achieves a prescribed output tracking transient performance and final tracking accuracy in general while obtaining asymptotic output tracking in the absence of modeling errors.In addition,a saturated projection adaptive scheme is proposed to improve the globally learning capability when the velocity becomes large,which might make the previous proposed projection-based adaptive law be unstable.Theoretical and extensive experimental results are obtained to verify the high-performance nature of the proposed adaptive robust control strategy.

  9. 驻车制动器的自锁保护装置%Self-locking Protection System of Hand brake

    Institute of Scientific and Technical Information of China (English)

    蒋晓琴

    2013-01-01

    The working conditions of central braking systems used in most automobiles are discussed.The reasons of the automobile sliding accident are analyze.And a simple improved design is put forward by adding a self-locking protection system,which is consist of electro-hydraulic control devices on the hand brake.While the self-locking protection system is working,the hand brake can not be released unless the ignition switch is turned on.%通过对汽车中央制动器的工作状态进行研究,分析了带中央制动器的汽车倒溜下滑的原因;提出了一种简单的改进设计方法,即在驻车制动器上加装一个带自锁功能的电液控制辅助装置,使得汽车在点火开关断开后,司机可以拉出手柄制动,但因自锁不能推回手柄解除制动,若要解除制动,必须先闭合点火开关,辅助装置的作用是要解除制动必须要点火开关闭合.

  10. Hydrologic connectivity responses to thermally-controlled changes in hydraulic gradients on Arctic hillslopes

    Science.gov (United States)

    Rushlow, C. R.; Godsey, S.

    2012-12-01

    Active layer freeze and thaw exerts a first-order control on Arctic hillslope hydrology, and thus the weathering and transport of material within Arctic watersheds. We investigate how changes in active layer thaw depth over the summer warm season affect the storage and flux of water, especially in response to snowmelt and storm events. We focus our investigation on six water tracks -linear regions of preferential, but unchannelized flow- draining the hillslopes of the Upper Kuparuk River basin in northern Alaska. Water tracks form a slight topographic depression on the hillslope, and snow depth surveys from before spring snowmelt indicate that snow depths are deeper in the water tracks than on the surrounding hillslope. Thermocouples installed at ten intervals up to 35 cm below ground on the inside, edge and outside of each water track monitored ground temperatures as the active layer expanded throughout the summer. In general, the amplitude of diurnal temperature variability decreases with increasing depth, and the amplitude increases over the course of the season at all depths. Temperatures inside the water track have a muted diurnal cyclicity relative to the temperatures on the edge and outside the water track. Furthermore, surface soil moisture content inside the water tracks is consistently higher than outside. Both of these observations reflect that water moderates subsurface temperatures. Thaw depth surveys perpendicular to the water track show that over the course of the season, thaw depth becomes greater within the water track, increasing the hydraulic gradient from the surrounding hillslope to the water track. Thus, during annual late May snowmelt the surface topography is the main control on water flow paths, but as temperatures continue to warm, the topography of the active layer dominates. Thirty pressure transducers deployed in shallow groundwater wells along perpendicular transects of one water track measure changes in water table elevation during

  11. Choice of time-headway in car-following and the role of time-to-collision information in braking.

    Science.gov (United States)

    Van Winsum, W; Heino, A

    1996-04-01

    Time-headway (THW) during car-following and braking response were studied in a driving simulator from the perspective that behaviour on the manoeuvring level (e.g. choice of THW) may be linked to operational competence of vehicle control (e.g. braking) via a process of adaptation. Time-headway was consistent within drivers and constant over a range of speeds. Since time-headway represents the time available to the driver to reach the same level of deceleration as the lead vehicle in case it brakes, it was studied whether choice of time-headway was related to skills underlying braking performance. The initiation and control of braking were both affected by time-to-collision (TTC) at the moment the lead vehicle started to brake. This strongly supported the idea that time-to-collision information is used for judging the moment to start braking and in the control of braking. No evidence was found that short followers differ from long followers in the ability to accurately perceive TTC. There was, however, evidence that short followers are better able to programme the intensity of braking to required levels. Also, short followers tuned the control of braking better to the development of criticality in time during the braking process. It was concluded that short followers may differ from long followers in programming and execution of the braking response.

  12. Thermal Characterisation of Brake Pads

    DEFF Research Database (Denmark)

    Ramousse, Séverine; Høj, Jakob Weiland; Sørensen, O. T.

    2001-01-01

    The chemical-physical decomposition processes that occur in a brake pad heated to 1000degreesC have been studied. This temperature can be reached when a brake pad is applied. Thermogravimetry and differential thermal analysis were used in combination with evolved gas analysis, and image analysis...

  13. An analysis of braking measures

    NARCIS (Netherlands)

    De Groot, S.; De Winter, J.C.F.; Wieringa, P.A.; Mulder, M.

    2010-01-01

    Braking to a full stop at a prescribed target position is a driving manoeuvre regularly used in experiments to investigate driving behaviour or to test vehicle acceleration feedback systems in simulators. Many different performance measures have been reported in the literature for analysing braking.

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

    Directory of Open Access Journals (Sweden)

    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.

  15. Plasma Braking Due to External Magnetic Perturbations

    Science.gov (United States)

    Frassinetti, L.; Olofsson, Kejo; Brunsell, P. R.; Khan, M. W. M.; Drake, J. R.

    2010-11-01

    The RFP EXTRAP T2R is equipped with a comprehensive active feedback system (128 active saddle coils in the full-coverage array) and active control of both resonant and non-resonant MHD modes has been demonstrated. The feedback algorithms, based on modern control methodology such as reference mode tracking (both amplitude and phase), are a useful tool to improve the ``state of the art'' of the MHD mode control. But this tool can be used also to improve the understanding and the characterization of other phenomena such as the ELM mitigation with a resonant magnetic perturbation or the plasma viscosity. The present work studies plasma and mode braking due to static RMPs. Results show that a static RMP produces a global braking of the flow profile. The study of the effect of RMPs characterized by different helicities will also give information on the plasma viscosity profile. Experimental results are finally compared to theoretical models.

  16. Application of PLC in hydraulic transmission combination machine control system%PLC在液压传动组合机床控制中的应用

    Institute of Scientific and Technical Information of China (English)

    关红

    2012-01-01

      液压传动控制系统主要用来控制液压动力元件(液压缸、液压马达)按照规定的要求进行动作。文章给出了采用PLC来代替传统继电器来控制液压控制元件,从而实现对液压动力元件的控制,提高液压控制的自动化程度和可靠性的PLC液压动力滑台的应用和实现方法,并通过实践证明了该方法的可靠性和易行性。%  The hydraulic transmission control system is mainly used to control the hydraulic components (including hydraulic cylinders and hydraulic motor) and make them operate according to the requirements. The paper presents how the PLC replaces traditional relay to control the hydraulic control components in order to achieve control of hydraulics components, and gives application and implementation method of PLC hydraulic power slide to increase the automation level and reliability of the hydraulic control. And the practice verifies the reliability and feasibility of the method.

  17. HYDRAULIC CHARACTERISTICS OF BOTTOM UNDERLAY-TYPE PIER FOR WATER-WING CONTROL

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The pier, placed at the outlet of the pressure flow section, is an effective design to deal with the problems of the manufacture and operation of the gates for a discharge tunnel with high water head. It is crucial to control the water-wing, induced by this type of the pier. Through observing the phenomena of the water-wing, the reason of the water-wing inception, i.e., the concave of the flow surface, was presented, and a type of the new pier with bottom underlay was designed. The hydraulic characteristics of the pier, including the variations of the water-wing features, both length and height, with the water head, as well as with the concave depth, and with the height of the bottom underlay, and the variations of the concave depth with the height of the bottom underlay, were investigated by physical model experiments. The results show that the approach of the modification of the concave through the structures with the bottom underlay-type pier is remarkably effective in the water-wing control.

  18. International approaches to the hydraulic control of surface water runoff in mitigating flood and environmental risks

    Directory of Open Access Journals (Sweden)

    Ballard Bridget Woods

    2016-01-01

    Full Text Available This paper compares and contrasts a number of international approaches to the hydraulic control of surface water runoff from new development and redevelopment, known as sustainable drainage systems (SuDS or low impact development (LID. The paper provides a commentary on the progress and current status of national standards for SuDS in the UK to control the frequency, flow rate and volume of runoff from both frequent and extreme rainfall events, and the best practice design criteria presented in the revised UK CIRIA SuDS Manual, published in November 2015. The paper then compares these design criteria and standards with those developed and applied in China, USA, France and Germany and also looks at the drivers behind their development. The benefits of these different approaches are assessed in the context of flood risk mitigation, climate resilience and wider environmental protection objectives, including water quality, morphology and ecology. The paper also reviews the design approaches promoted by the new SuDS Manual and internationally for delivering additional benefits for urban spaces (such as recreation, visual character, education and economic growth through multi-functional urban design.

  19. Development of semi-active hydraulic damper as active interaction control device to withstand external excitation

    Indian Academy of Sciences (India)

    Ming-Hsiang Shih; Wen-Pei Sung

    2014-02-01

    Semi-automatic control systems have the characteristics of being adaptable and requiring low energy. The objective of this research was to study the performance of an improved DSHD (Displacement Semi-Active Hydraulic Damper) by converting it to AIC (Active Interaction Control Device) with the addition of an accumulator. The prototype was tested using full-scale elements for examining the structural displacement, and typical responses of the interacting interface element developed in this research, the pressure variation of the pressure storage device, and the energy dissipation hysteresis loop when the structure installed with these elements is subjected to external force of various magnitude. The laboratory results confirm that the device developed in this research is capable of applying the energy dissipation characteristics of DSHD so that these elements are appropriate for developing the proposed AIC. The mutual interaction between the subordinate structure and the main structure to be protected is capable of transforming the quake energy applied to the main structure to the subordinate structure so that the objective of minimizing the deformation of main structural can be achieved.

  20. Effect of Cone Angle on the Hydraulic Characteristics of Globe Control Valve

    Institute of Scientific and Technical Information of China (English)

    LIN Zhe; WANG Huijie; SHANG Zhaohui; CUI Baoling; ZHU Chongxi; ZHU Zuchao

    2015-01-01

    Globe control valve is widely used in chemical, petroleum and hydraulic industries, and its throttling feature is achieved by the adopting of valve plug. However, very limited information is avallable in literature regarding the influence of valve plug on the internal and external features in globe control valves. Thus the effect of valve plug is studied by CFD and experiment in this paper. It is obtalned from external features that the pressure drop between upstream and downstream pressure-sampling position increases exponentially with flow rate. And for small valve opening, the increment of pressure drop decreases with the increase of cone angle (β). However, with the increase of valve opening, the effect of cone angle diminishes significantly. It is also found that the cone angle has little effect on flow coefficient (Cv) when the valve opening is larger than 70%. But for the cases less than 70%, Cv curve varies from an arc to a stralght line. The variation of valve performance is caused by the change of internal flow. The results of internal flow show that cone angle has negligible effect on flow properties for the cases of valve opening larger than 70%. However, when valve opening is smaller than 70%, the pressure drop of orifice decreases with the increase ofβ, making the reduction in value and scope of the high speed zone around the conical surface of valve plug, and then results in a decreasing intensity of adjacent downstream vortex. Meanwhile, it is concluded from the results that the increase of cone angle will be beneficial for the anti-cavitation and anti-erosion of globe control valve. This paper focuses on the internal and external features of globe control valve that caused by the variation of cone angle, arriving at some results beneficial for the design and usage of globe control valve.

  1. Hydraulic support stability control of fully mechanized top coal caving face with steep coal seams based on instable critical angle

    Institute of Scientific and Technical Information of China (English)

    TO Shi-hao; YUAN Yong; LI Nai-liang; DOU Feng-jin; WANG Fang-tian

    2008-01-01

    Analyzed the support instable mode of sliding, tripping, and so on, and believedthe key point of the support stability control of fully mechanized coal caving face with steepcoal seams was to maintain that the seam true angle was less than the hydraulic supportinstability critical angle. Through the layout of oblique face, the improvement of supportsetting load, the control of mining height and nonskid platform, the group support systemof end face, the advance optimization of conveyor and support, and the other control tech-nical measures, the true angle of the seam is reduced and the instable critical angle of thesupport is increased, the hydraulic support stability of fully mechanized coal caving facewith steep coal seams is effectively controlled.

  2. Design of a hydraulic actuator for active control of rotating machinery

    Science.gov (United States)

    Rashidi, Majid; Dirusso, Eliseo

    1991-01-01

    A hydraulic actuator is described which consists of a pump, a hydraulic servo-valve, and a thin elastic plate which transduces the generated pressure variations into forces acting on a mass which simulates the bearing of a rotor system. An actuator characteristic number is defined to provide a base for an optimum design of force actuators with combined weight, frequency, and force considerations. This characteristic number may also be used to compare hydraulic and electromagnetic force actuators. In tests, this actuator generated 182.3 Newton force at a frequency of 100 Hz and a displacement amplitude of 5.8 x 10 exp -5 meter.

  3. An approach of inertia compensation based on electromagnetic induction in brake test

    Directory of Open Access Journals (Sweden)

    Xiaowen Li

    2016-04-01

    Full Text Available This paper briefly introduced the operational principle of the brake test bench, and points out the shortcomings when controlling the current of brake test, which means the reference measuring data is instantaneous. Aimed at this deficiency, a current control model based on electromagnetic induction and DC voltage is proposed. On the principle of electromagnetic induction, continuous data and automatic processes are realized. It significantly minimized errors owing to instantaneous data, and maximized the accuracy of the brake test.

  4. 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.

  5. Control Circuit Design for Electronic Parking Brake System%电子驻车制动系统控制电路设计

    Institute of Scientific and Technical Information of China (English)

    郑婷; 王洪亮; 王显会; 皮大伟

    2014-01-01

    Based on the research status of electronic parking brake system at home and abroad and the function analysis of electronic parking brake system ,the overall design of a cable-type electronic parking brake system was carried out .The gradient sensor ,motor speed sensor and parking pulling sensor were selected ,and each module circuit was designed .The real vehicle matching and the parking/removing function debugging in variable drive conditions were completed .The results show that the static and dynamic characteristics of the electronic parking brake system can meet the design requirements .%在结合目前国内外电子驻车制动系统研究现状以及对其功能要求分析的基础之上,针对钢索牵引式电子驻车制动系统进行整体设计。依次对倾角传感器、电机转速传感器和拉力传感器等进行选型并完成各模块的电路设计;完成实车匹配并根据驾驶员实际操作以及各种车况进行驻车制动或解除的功能调试,结果表明其静态特性和动态特性均满足设计要求。

  6. Research of blended braking characteristics of super-big electric wheels of mining dump truck%特大型电动轮矿用自卸车联合制动特性研究

    Institute of Scientific and Technical Information of China (English)

    罗春雷; 钟锡继; 吴伟传

    2012-01-01

    In order to obtain the blended braking characteristics of super-big electric wheels of mining dump truck on different downhill slope, and analyze the power distribution between grid resistance electric dynamic brake and hydraulic wet multi-disc brake, the dynamic model of blended braking system was established by using a certain type of 520 tons gross vehicle weight dump truck as research object. Results show that with the initial velocity of 30 km/h, emergency braking distance is less than 21 m on different slopes below 10% ; the average specific brake force nearly remain unchanged on different slope, and the maximum value is about 0. 35; for rear specific brake force is bigger than that of front, the possibility of sideslip and deviation is bigger than that of out of steering control; the specific brake force difference between rear and front can be reduced by moving the center of gravity to the rear axle, while the average specific brake force remain unchanged, so the ground adhesion can used effectively; the brake power ratio between grid resistance and wet multi-disc brake is about 2- 3. These results shows that the blended braking system can reduce the brakes load effectively, increase braking performance, and extend the service life of the main brakes.%为了研究特大型电动轮矿用自卸车下坡联合制动时的制动特性,分析联合制动时电阻栅能耗制动及液压多片湿盘式制动器制动功率的分配,以湘电重装满载整车重量达520t的自卸车为研究对象,建立了自卸车电阻栅能耗制动及液压多片湿盘式制动器联合制动系统动力学模型,利用Mtlab/simulink对该自卸车在不同下坡坡道上的紧急联合制动进行了数值分析计算,获得制动特性曲线.结果表明:初速度为30 km/h时,在不高于10%的坡度下紧急制动距离不超过21 m;平均比制动力在不同坡道基本保持不变,最高值为0.35左右;后轮比制动力大于前轮比制动力,侧滑、跑

  7. Hydraulic analysis of water supply networks and controlling the leak using WATER GEMS model

    Directory of Open Access Journals (Sweden)

    Mahmood Motevalizadeh

    2016-03-01

    Full Text Available Given that the discussion on water is strategic in terms of economic and social aspects as well as environmental impact, water leak in urban water-supply systems is very important, so, dealing with it is necessary and inevitable. Controlling and reducing water leak are of the main goals of water supplier organization due to limitations in terms of water resources, especially in dry lands which have few water resources. Pressure management is an efficient tool to reduce costs, enhance the operation of the network and therefore, it reduces the leak and increases the life of facilities and equipment and reduces the number of accidents. Smart pressure containment is a good way to prevent excess pressure in network to control undesirable phenomenon of leak which is directly related to pressure. In this study, Badamuiyeh water supply complex in Kerman City was selected to study on adjusting the pressure to control the leak of water and the hydraulic analysis was performed with demand-based method (DDSM, which is common technique and demand is constant, by Water GEMS software. For this end, the pressure reducing valves (prv were installed in critical point and they were timed to provide standard pressure in all nodes of the network and then, the impact of smart pressure management on water supply system has been investigated. Then its impact on the leak was examined and the results show that smart pressure control through pressure-reducing valve is a proper method for optimal management of water and reducing the leak significantly that with 45.15% reduction in average pressure, one can reduce the leak as much as 25.67% that as its result, 15380 m3 of water is annually saved in this region which is equal to 27.18% of consuming water.

  8. Environmental Assessment for a Two-Story Addition to Building 503 -- Hydraulic Flight Controls Lean Transformation

    Science.gov (United States)

    2007-03-01

    Base, the A-10 depot maintenance, commodities, and backshop workloads previously located in Sacramento were relocated to the Hill AFB hydraulic and...Air Force Base, the A-10 depot maintenance, commodities, and backshop workloads previously located in Sacramento were relocated to the Hill AFB ...relocating the hydraulic and pneudraulic repair facility to another Air Force base. Since workload has already been located from McClellan AFB , and

  9. 液压支架电液控制系统急停控制功能的设计与实现%Design and realization on emergency stop control function of electro-hydraulic control system of hydraulic support

    Institute of Scientific and Technical Information of China (English)

    牛一村

    2016-01-01

    针对液压支架电液控制系统运行特点,提出了液压支架电液控制系统急停控制功能整体设计方案,通过基于单线 CAN 总线的急停通信电路实现了全系统的急停功能,并具有急停触发和解除时的高亮高分贝报警功能,能够在所有支架控制器上显示急停触发位置,对于系统通信故障、支架控制器复位及急停按钮损坏等故障有较好的适应能力,经过功能和性能测试,验证了该方案的可行性。%According to the operation characteristics of the electro-hydraulic control system of the hydraulic support, the paper proposed the whole design scheme to realize emergency stop control function of the electro-hydraulic control system of the hydraulic support, and the emergency stop of the whole system realized via the emergency stop circuit based on single-line CAN bus. In addition, highlighted and high decibel alarm took effect on emergency stop and release, and emergency stop triggering position displayed on all the support controllers. It possessed excellent adaptability for the faults about system communication, reset of support controller and damage of emergency button, and proved feasible after function and performance test.

  10. IT-Tools Concept for Simulation and Design of Water Hydraulic Mechatronic Test Facilities for Motion Control and Operation in Environmentally Sensitive Application Areas

    DEFF Research Database (Denmark)

    Conrad, Finn; Pobedza, J.; Sobczyk, A.

    2004-01-01

    This paper presents a proposed IT-Tools concept for modeling, simulation, analysis and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. The designed test rigs have tap water hydraulic components of the Danfoss Nessie® product family and equipped...

  11. Variation of phytoplankton functional groups modulated by hydraulic controls in Hongze Lake, China.

    Science.gov (United States)

    Tian, Chang; Pei, Haiyan; Hu, Wenrong; Hao, Daping; Doblin, Martina A; Ren, Ying; Wei, Jielin; Feng, Yawei

    2015-11-01

    Hongze Lake is a large, shallow, polymictic, eutrophic lake in the eastern China. Phytoplankton functional groups in this lake were investigated from March 2011 to February 2013, and a comparison was made between the eastern, western, and northern regions. The lake shows strong fluctuations in water level caused by monsoon rains and regular hydraulic controls. By application of the phytoplankton functional group approach, this study aims to investigate the spatial and temporal dynamics and analyze their influencing factors. Altogether, 18 functional groups of phytoplankton were identified, encompassing 187 species. In order to seek the best variable describing the phytoplankton functional group distribution, 14 of the groups were analyzed in detail using redundancy analysis. Due to the turbid condition of the lake, the dominant functional groups were those tolerant of low light. The predominant functional groups in the annual succession were D (Cyclotella spp. and Synedra acus), T (Planctonema lauterbornii), P (Fragilaria crotonensis), X1 (Chlorella vulgaris and Chlorella pyrenoidosa), C (Cyclotella meneghiniana and Cyclotella ocellata), and Y (Cryptomonas erosa). An opposite relationship between water level and the biomass of predominant groups was observed in the present study. Water level fluctuations, caused by monsoonal climate and artificial drawdown, were significant factors influencing phytoplankton succession in Hongze Lake, since they alter the hydrological conditions and influence light and nutrient availability. The clearly demonstrated factors, which significantly influence phytoplankton dynamics in Hongze Lake, will help government manage the large shallow lakes with frequent water level fluctuations.

  12. FORCE FEEDBACK MODEL OF ELECTRO-HYDRAULIC SERVO TELE-OPERATION ROBOT BASED ON VELOCITY CONTROL

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting" on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.

  13. 49 CFR 238.231 - Brake system.

    Science.gov (United States)

    2010-10-01

    ... by testing or previous service. (h) Hand brakes and parking brakes. (1) Except for a locomotive that..., and except for MU locomotives, all locomotives shall be equipped with a hand or parking brake that can... locomotives, on locomotives so equipped, the hand or parking brake as well as its parts and connections...

  14. 49 CFR 238.431 - Brake system.

    Science.gov (United States)

    2010-10-01

    ... thermal damage to wheels or discs. (f) The brake system design shall allow a disabled train's pneumatic... 49 Transportation 4 2010-10-01 2010-10-01 false Brake system. 238.431 Section 238.431... Equipment § 238.431 Brake system. (a) A passenger train's brake system shall be capable of stopping...

  15. Diagnostics monitor of the braking efficiency in the on board diagnostics system for the motor vehicles

    Science.gov (United States)

    Gajek, Andrzej

    2016-09-01

    The article presents diagnostics monitor for control of the efficiency of brakes in various road conditions in cars equipped with pressure sensor in brake (ESP) system. Now the brake efficiency of the vehicles is estimated periodically in the stand conditions on the base of brake forces measurement or in the road conditions on the base of the brake deceleration. The presented method allows to complete the stand - periodical tests of the brakes by current on board diagnostics system OBD for brakes. First part of the article presents theoretical dependences between deceleration of the vehicle and brake pressure. The influence of the vehicle mass, initial speed of braking, temperature of brakes, aerodynamic drag, rolling resistance, engine resistance, state of the road surface, angle of the road sloping on the deceleration have been analysed. The manner of the appointed of these parameters has been analysed. The results of the initial investigation have been presented. At the end of the article the strategy of the estimation and signalization of the irregular value of the deceleration are presented.

  16. FSC赛车制动系统设计%FSC racing brake system design

    Institute of Scientific and Technical Information of China (English)

    吴祥超; 赵运德; 鲁雄文

    2014-01-01

    A design method of brake system that is applicable to theFormula Student China racing car is proposed in this paper. A simple hydraulic disc brake system is chosen, and adding balance bar is to regulate the distribution coefficient of braking force. Calculation and analysis show that the braking system can meet the requirements of dynamic testing during the game.%本文提出了一套适用于FSC赛车制动系统的设计方法。选用简单液压盘式制动系统,并且加装平衡杆以调节制动器制动力分配系数。计算和分析表明,该制动系统能够满足比赛时动态测试的要求。

  17. An analysis of the annual probability of failure of the waste hoist brake system at the Waste Isolation Pilot Plant (WIPP)

    Energy Technology Data Exchange (ETDEWEB)

    Greenfield, M.A. [Univ. of California, Los Angeles, CA (United States); Sargent, T.J.

    1995-11-01

    The Environmental Evaluation Group (EEG) previously analyzed the probability of a catastrophic accident in the waste hoist of the Waste Isolation Pilot Plant (WIPP) and published the results in Greenfield (1990; EEG-44) and Greenfield and Sargent (1993; EEG-53). The most significant safety element in the waste hoist is the hydraulic brake system, whose possible failure was identified in these studies as the most important contributor in accident scenarios. Westinghouse Electric Corporation, Waste Isolation Division has calculated the probability of an accident involving the brake system based on studies utilizing extensive fault tree analyses. This analysis conducted for the U.S. Department of Energy (DOE) used point estimates to describe the probability of failure and includes failure rates for the various components comprising the brake system. An additional controlling factor in the DOE calculations is the mode of operation of the brake system. This factor enters for the following reason. The basic failure rate per annum of any individual element is called the Event Probability (EP), and is expressed as the probability of failure per annum. The EP in turn is the product of two factors. One is the {open_quotes}reported{close_quotes} failure rate, usually expressed as the probability of failure per hour and the other is the expected number of hours that the element is in use, called the {open_quotes}mission time{close_quotes}. In many instances the {open_quotes}mission time{close_quotes} will be the number of operating hours of the brake system per annum. However since the operation of the waste hoist system includes regular {open_quotes}reoperational check{close_quotes} tests, the {open_quotes}mission time{close_quotes} for standby components is reduced in accordance with the specifics of the operational time table.

  18. Brake Stops Both Rotation And Translation

    Science.gov (United States)

    Allred, Johnny W.; Fleck, Vincent J., Jr.

    1995-01-01

    Combination of braking and positioning mechanisms allows both rotation and translation before brake engaged. Designed for use in positioning model airplane in wind tunnel. Modified version used to position camera on tripod. Brake fast and convenient to use; contains single actuator energizing braking actions against both rotation and translation. Braking actuator electric, but pneumatic actuator could be used instead. Compact and lightweight, applies locking forces close to load, and presents minimal cross section to airflow.

  19. Towards improved estimation of the unsaturated soil hydraulic conductivity in the near saturated range by a fully automated, pressure controlled unit gradient experiment.

    Science.gov (United States)

    Werisch, Stefan; Müller, Marius

    2017-04-01

    Determination of soil hydraulic properties has always been an important part of soil physical research and model applications. While several experiments are available to measure the water retention of soil samples, the determination of the unsaturated hydraulic conductivity is often more complicated, bound to strong assumption and time consuming. Although, the application of unit gradient experiments is recommended since the middle of the last century, as one method towards a (assumption free) direct measurement of the unsaturated hydraulic conductivity, data from unit gradient experiments is seldom to never reported in literature. We developed and build a fully automated, pressure controlled, unit gradient experiment, which allows a precise determination of the unsaturated soil hydraulic conductivity K(h) and water retention VWC(h), especially in the highly dynamic near saturated range. The measurement apparatus applies the concept of hanging water columns and imposes the required soil water pressure by dual porous plates. This concepts allows the simultaneous and direct measurement of water retention and hydraulic conductivity. Moreover, this approach results in a technically less demanding experiment than related flux controlled experiments, and virtually any flux can be measured. Thus, both soil properties can be measured in mm resolution, for wetting and drying processes, between saturation and field capacity for all soil types. Our results show, that it is important to establish separate measurements of the unsaturated hydraulic conductivity in the near saturated range, as the shape of the retention function and hydraulic conductivity curve do not necessarily match. Consequently, the prediction of the hydraulic conductivity curve from measurements of the water retention behavior in combination with a value for the saturated hydraulic conductivity can be misleading. Thus, separate parameterizations of the individual functions might be necessary and are

  20. A Water Hammer Protection Method for Mine Drainage System Based on Velocity Adjustment of Hydraulic Control Valve

    OpenAIRE

    Yanfei Kou; Jieming Yang; Ziming Kou

    2016-01-01

    Water hammer analysis is a fundamental work of pipeline systems design process for water distribution networks. The main characteristics for mine drainage system are the limited space and high cost of equipment and pipeline changing. In order to solve the protection problem of valve-closing water hammer for mine drainage system, a water hammer protection method for mine drainage system based on velocity adjustment of HCV (Hydraulic Control Valve) is proposed in this paper. The mathematic mode...

  1. Developing a Tool Point Control Scheme for a Hydraulic Crane Using Interactive Real-time Dynamic Simulation

    Directory of Open Access Journals (Sweden)

    Mikkel M. Pedersen

    2010-10-01

    Full Text Available This paper describes the implementation of an interactive real-time dynamic simulation model of a hydraulic crane. The user input to the model is given continuously via joystick and output is presented continuously in a 3D animation. Using this simulation model, a tool point control scheme is developed for the specific crane, considering the saturation phenomena of the system and practical implementation.

  2. Composite Energy Storage Control System Application on the Rig Braking Energy Recovery%复合储能控制系统在钻机制动能量回收中的应用

    Institute of Scientific and Technical Information of China (English)

    董兴华; 栾苏; 魏培静; 李洪波; 刘晶晶; 乌买尔·达吾提

    2016-01-01

    石油钻机在工作过程中由于制动能量无法回收利用,造成了能量的巨大浪费。采用储能单元可以在电机制动时回收能量,在电机负载增加时作为辅助动力源进行电能补充。然而,这类设备的储能单元易损坏、整体采购成本高,不利于在石油钻井行业推广应用。鉴于此,对钻机原有电控系统进行扩展,加入控制单元和储能单元,提出制动能量回收利用方案和复合储能单元的改良设计,并设计了该系统的控制策略、保护策略和储能单元的模糊控制。通过实际应用证明该系统可以改善电能的质量和降低生产成本,对制动能量的有效回收利用效果明显。最后指出该复合储能控制系统在石油钻井行业的应用前景十分广阔。%The unrecoverable braking energy of oil rig during operation often results in huge waste of energy. The energy storage unit can recover the energy during braking and supply as an auxiliary power source when the mo⁃tor load increases. However, the energy storage units are easily damaged and the overall procurement costs are high, which makes it not preferable to promote application in the oil drilling industry. In view of this, the original rig electric control system can be extended to integrate the control unit and the storage unit. The braking energy re⁃covery program and a modified design of composite energy storage unit have been proposed. The system’s control strategy, protection strategy and the energy storage unit fuzzy control have been designed. The practical application shows that the system can improve the quality of electricity and reduce production costs, presenting efficient recov⁃ery of braking energy. The developed composite energy storage control system has a broad application prospects in the oil drilling industry.

  3. 高速矿井架空人车液压系统的设计与分析%Design and Analysis of Hydraulic System for High-speed Coal-mining Manned-ropeway

    Institute of Scientific and Technical Information of China (English)

    李锐; 侯友夫

    2012-01-01

    设计一种高速矿井架空人车液压系统的主回路以及制动回路,采用电液比例技术实现系统软启动、软制动以及调速.分析矿井架空人车在启动、制动、调速等不同工况下,液压系统各元器件的动作要求和控制机制,为高速矿井架空人车液压系统的选择提供了参考.%A kind of main loop and braking loop were designed for high-speed coal-mining manned-ropeway hydraulic system. Electro-hydraulic proportional technology was adopted to realize soft start, soft brake and speed regulation. The motion requirements and controlling mechanism of each component in coal-mining manned-ropeway hydraulic system were analyzed when the system was starting, braking or speed regulation. It provides reference for design of high-speed coal-mining manned-ropeway hydraulic system.

  4. Use of Plant Hydraulic Theory to Predict Ecosystem Fluxes Across Mountainous Gradients in Environmental Controls and Insect Disturbances

    Science.gov (United States)

    Ewers, B. E.; Pendall, E.; Reed, D. E.; Barnard, H. R.; Whitehouse, F.; Frank, J. M.; Massman, W. J.; Brooks, P. D.; Biederman, J. A.; Harpold, A. A.; Naithani, K. J.; Mitra, B.; Mackay, D. S.; Norton, U.; Borkhuu, B.

    2011-12-01

    While mountainous areas are critical for providing numerous ecosystem benefits at the regional scale, the strong gradients in environmental controls make predictions difficult. A key part of the problem is quantifying and predicting the feedback between mountain gradients and plant function which then controls ecosystem cycling. The emerging theory of plant hydraulics provides a rigorous yet simple platform from which to generate testable hypotheses and predictions of ecosystem pools and fluxes. Plant hydraulic theory predicts that plant controls over carbon, water, energy and nutrient fluxes can be derived from the limitation of plant water transport from the soil through xylem and out of stomata. In addition, the limit to plant water transport can be predicted by combining plant structure (e.g. xylem diameters or root-to-shoot ratios) and plant function (response of stomatal conductance to vapor pressure deficit or root vulnerability to cavitation). We evaluate the predictions of the plant hydraulic theory by testing it against data from a mountain gradient encompassing sagebrush steppe through subalpine forests (2700 to 3400 m). We further test the theory by predicting the carbon, water and nutrient exchanges from several coniferous trees in the same gradient that are dying from xylem dysfunction caused by blue-stain fungi carried by bark beetles. The common theme of both of these data sets is a change in water limitation caused by either changing precipitation along the mountainous gradient or lack of access to soil water from xylem-occluding fungi. Across all of the data sets which range in scale from individual plants to hillslopes, the data fit the predictions of plant hydraulic theory. Namely, there was a proportional tradeoff between the reference canopy stomatal conductance to water vapor and the sensitivity of that conductance to vapor pressure deficit that quantitatively fits the predictions of plant hydraulic theory. Incorporating this result into

  5. Creation Problems of Control System of the Lower Limbs Exoskeleton with Hydraulic Cylinders

    Directory of Open Access Journals (Sweden)

    E. K. Lavrovsky

    2015-01-01

    Full Text Available The paper considers a problem of bio-mechanism control i.e. control of integrated human - exoskeleton, with its walking on the level horizontal surface on the flat regular single support foot.The exoskeleton is a metal rod structure having the same length as a human, but with different mass inertial characteristics. The exoskeleton is able to repeat the human-driven movement. There is a point load in the "backpack" behind human’s back. Elastic straps support the contact between the human body and the exoskeleton in eight points.The article explores the behavior of the exoskeleton in two modes: passive and active. The passive mode characterizes the behavior of the exoskeleton only under the action of forces generated by the human movement in the "comfortable" walking gait. As to the active mode, a difference from the passive one is that in the knee joints of the exoskeleton there are locomotors (propulsions capable of developing the desired torques.Active mode investigation was based on the full dynamics equations. Exoskeleton control provided the desired movements in the knee joints with the required quality of transients. In the case of an ideal engine, simulation has shown the correctness of these algorithms and high accuracy of realization of defined gait (including also the angular position of the body exoskeleton as well as has revealed a significant impact of damping coefficients and elastic straps. The study has demonstrated the possibility for selection factors to ensure a comfortable movement for the human - operator due to abrupt reduction of vibrations in the system. At the same time, decreasing human’s energy expenditures calculated by criteria of biomechanical functionality were observed. A model of the exoskeleton was also studied taking into account the dynamic properties of the hydraulic cylinders and the geometry of their position.The numerical studies allow us to make a sound choice of material for fastening straps of

  6. 基于模糊控制的混合动力电动车再生制动系统的建模与仿真%Modeling and Simulation of the Regenerative Braking System in a HEV Based on Fuzzy Control

    Institute of Scientific and Technical Information of China (English)

    刘辉; 王伟达; 何娇; 项昌乐

    2012-01-01

    Based on fuzzy control theory, the regenerative braking control strategy for a hybrid electric vehicle is established. The braking force distribution rules suitable for energy recovery and the fuzzy controller are designed with brake pedal position, vehicle speed and battery SOC taken as the inputs of fuzzy controller. The models for electric motor, battery and wheel dynamics are built and a simulation of regenerative braking with different initial speeds is performed. The results indicate that the braking force distribution strategy based on fuzzy control doesn't require accurate mathematical model and has good robustness and application value.%基于模糊控制理论,建立了某混合动力车再生制动控制策略.选取制动踏板位置、车速及电池SOC作为模糊控制器输入,设计了适于能量回收的制动力分配规则和模糊控制器.建立了电机、蓄电池和车轮动力学等模型,对不同初速下的再生制动进行了仿真.结果表明,基于模糊控制的制动力分配策略,不需要精确的数学模型,且有较好的鲁棒性和应用价值.

  7. Design and analysis of the hybrid excitation rail eddy brake system of high-speed trains

    Institute of Scientific and Technical Information of China (English)

    Ji-en MA; Bin ZHANG; Xiao-yan HUANG; You-tong FANG; Wen-ping CAO

    2011-01-01

    Compared to the current eddy braking patterns using a single magnetic source,hybrid excitation rail eddy brakes have many advantages,such as controllability,energy saving,and various operating models.Considering the large braking power consumption of the high-speed train,a hybrid excitation rail eddy brake system,which is based on the principle of electromagnetic field,is proposed to fulfill the needs of safety and reliability.Then the working processes of the mechanical lifting system and electromagnetic system are demonstrated.With the electromagnetic system analyzed using the finite element method,the factors such as speed,air gap,and exciting current have influences on the braking force and attractive force.At last,the structure optimization of the brake system is discussed.

  8. Extending the Hydraulic Paradigm: Reunification, State Consolidation, and Water Control in the Vietnamese Mekong Delta after 1975

    Directory of Open Access Journals (Sweden)

    Simon Benedikter

    2014-12-01

    Full Text Available As vividly depicted by James Scott (1998, environmental transformation and the utilization of natural resources for development have, in modern human history, often been driven by the high-modernist world views of (authoritarian governments. In this context, environmental historians ascribe a powerful role to (hydraulic engineers as agents of ecological and social transformation. With their epistemic power arising from their association with rational-modern science and technology development, engineers emerged as protagonists of large-scale landscape engineering and water control ventures coordinated by the nation state in the light of modernization. Against this historical background, this paper traces the post-reunification hydraulic mission in the Mekong Delta (1975–90 and highlights the strategic role that state-led water control efforts guided by hydraulic engineers have played in economic recovery, nation building, and state consolidation under socialism. It is argued that water resources development in the Mekong Delta is deeply embedded in the country’s historical trajectory, which is framed by national division, the struggle for independence, and the subsequent reunification under the Vietnam Communist Party’s leadership. The socialist hydraulic bureaucracy, which arose in the 1950s in North Vietnam, capitalized on the opportune moment of reunification of North and South and systematically expanded its control over the southern waterscape. In this context, the paper presents a historical perspective on how water development strategies and institutional arrangements evolved when North Vietnamese engineers took over water resources management in the Mekong Delta. These past developments still have far-reaching implications for present-day water management dynamics in Vietnam’s largest river estuary.

  9. Nonlinear dynamic analysis and robust controller design for Francis hydraulic turbine regulating system with a straight-tube surge tank

    Science.gov (United States)

    Liang, Ji; Yuan, Xiaohui; Yuan, Yanbin; Chen, Zhihuan; Li, Yuanzheng

    2017-02-01

    The safety and stability of hydraulic turbine regulating system (HTRS) in hydropower plants become increasingly important since the rapid development and the broad application of hydro energy technology. In this paper, a novel mathematical model of Francis hydraulic turbine regulating system with a straight-tube surge tank based on a few state-space equations is introduced to study the dynamic behaviors of the HTRS system, where the existence of possible unstable oscillations of this model is studied extensively and presented in the forms of the bifurcation diagram, time waveform plot, phase trajectories, and power spectrum. To eliminate these undesirable behaviors, a specified fuzzy sliding mode controller is designed. In this hybrid controller, the sliding mode control law makes full use of the proposed model to guarantee the robust control in the presence of system uncertainties, while the fuzzy system is applied to approximate the proper gains of the switching control in sliding mode technique to reduce the chattering effect, and particle swarm optimization is developed to search the optimal gains of the controller. Numerical simulations are presented to verify the effectiveness of the designed controller, and the results show that the performances of the nonlinear HTRS system assisted with the proposed controller is much better than that with the commonly used optimal PID controller.

  10. Analysis and control of hydraulic support stability in fully-mechanized longwall face to the dip with great mining height

    Institute of Scientific and Technical Information of China (English)

    HUA Xin-zhu; WANG Jia-chen

    2008-01-01

    The working condition of the hydraulic support in working face can be dividedinto three kinds of situations in the following: roof fall and collapse with cavity, advancingsupport and supporting. Took single support with four-pole in Iongwall face to the dip asresearch object, control method was studied to avoid support instability in three situationsmentioned above. Based on these researches, the major factors of influencing on supportstability and its controlling measures were put forward. According to specific conditions ofworking face 1215(3), which is fully-mechanized and Iongwall face to the dip with greatmining height in Zhangji Coal Mine, Huainan Mining Group, the effective measures wastaken to control supports stability.

  11. Geologic Controls of Hydraulic Conductivity in the Snake River Plain Aquifer At and Near the Idaho National Engineering and Environmental Laboratory, Idaho

    Energy Technology Data Exchange (ETDEWEB)

    S. R. Anderson; M. A. Kuntz; L. C. Davis

    1999-02-01

    The effective hydraulic conductivity of basalt and interbedded sediment that compose the Snake River Plain aquifer at and near the Idaho National Engineering and Environmental Laboratory (INEEL) ranges from about 1.0x10 -2 to 3.2x10 4 feet per day (ft/d). This six-order-of-magnitude range of hydraulic conductivity was estimated from single-well aquifer tests in 114 wells, and is attributed mainly to the physical characteristics and distribution of basalt flows and dikes. Hydraulic conductivity is greatest in thin pahoehoe flows and near-vent volcanic deposits. Hydraulic conductivity is least in flows and deposits cut by dikes. Estimates of hydraulic conductivity at and near the INEEL are similar to those measured in similar volcanic settings in Hawaii. The largest variety of rock types and the greatest range of hydraulic conductivity are in volcanic rift zones, which are characterized by numerous aligned volcanic vents and fissures related to underlying dikes. Three broad categories of hydraulic conductivity corresponding to six general types of geologic controls can be inferred from the distribution of wells and vent corridors. Hydraulic conductivity of basalt flows probably is increased by localized fissures and coarse mixtures of interbedded sediment, scoria, and basalt rubble. Hydraulic conductivity of basalt flows is decreased locally by abundant alteration minerals of probable hydrothermal origin. Hydraulic conductivity varies as much as six orders of magnitude in a single vent corridor and varies from three to five orders of magnitude within distances of 500 to 1,000 feet. Abrupt changes in hydraulic conductivity over short distances suggest the presence of preferential pathways and local barriers that may greatly affect the movement of ground water and the dispersion of radioactive and chemical wastes downgradient from points of waste disposal.

  12. Hydraulic System Design of Hydraulic Actuators for Large Butterfly Valves

    OpenAIRE

    HUANG, Ye; Liu, Changsheng; Shiongur Bamed

    2014-01-01

    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...

  13. Effectiveness Using Circular Fibre Steel Flap Gate As a Control Structure Towards the Hydraulic Characteristics in Open Channel

    Science.gov (United States)

    Adib, M. R. M.; Amirza, A. R. M.; Wardah, T.; Junaidah, A.

    2016-07-01

    Hydraulic control gate structure plays an important role in regulating the flow of water in river, canal or water reservoir. One of the most appropriate structures in term of resolving the problem of flood occured is the construction of circular fibre steel flap gate. Therefore, an experiment has been conducted by using an open channel model at laboratory. In this case, hydraulic jump and backwater were the method to determined the hydraulic characteristics of circular fibre steel flap gate in an open channel model. From the experiment, the opening angle of flap gate can receive discharges with the highest flow rate of 0.035 m3/s with opening angle was 47°. The type of jump that occurs at the slope of 1/200 for a distance of 5.0 m is a standing jump or undulating wave. The height of the backwater can be identified based on the differences of specific force which is specific force before jump, F1 and specific force after jump, F2 from the formation of backwater. Based on the research conducted, the tendency of incident backwater wave occurred was high in every distance of water control location from water inlet is flap slope and the slope of 1/300 which is 0.84 m/s and 0.75 m/s of celerity in open channel model.

  14. Trends in Modelling, Simulation and Design of Water Hydraulic Systems – Motion Control and Open-Ended Solutions

    DEFF Research Database (Denmark)

    Conrad, Finn

    2006-01-01

    The paper presents and discusses a R&D-view on trends in development and best practise in modelling, simulation and design of both low-pressure and high-pressure tap water hydraulic components and systems for motion control as well as open-ended solutions various industrial applications. The focus...... is on the advantages using ordinary tap water and the range of application areas are illustrated with examples, in particular within the food processing industry, humidification operations, water mist systems for fire fighting, high water pressure cleaners, water moisturising systems for wood processing, lumber drying...... is that the components operate with pure water from the tap without additives of any kind. Hence water hydraulics takes the benefit of pure water as fluid being environmentally friendly, easy to clean sanitary design, non-toxic, non-flammable, inexpensive, readily available and easily disposable. The low-pressure tap...

  15. Thermal analysis on motorcycle disc brake geometry

    Science.gov (United States)

    W. M. Zurin W., S.; Talib, R. J.; Ismail, N. I.

    2017-08-01

    Braking is a phase of slowing and stop the movement of motorcycle. During braking, the frictional heat was generated and the energy was ideally should be faster dissipated to surrounding to prevent the built up of the excessive temperature which may lead to brake fluid vaporization, thermoelastic deformation at the contact surface, material degradation and failure. In this paper, solid and ventilated type of motorcycle disc brake are being analyse using Computational Fluid Dynamic (CFD) software. The main focus of the analysis is the thermal behaviour during braking for solid and ventilated disc brake. A comparison between both geometries is being discussed to determine the better braking performance in term of temperature distribution. It is found that ventilated disc brake is having better braking performance in terms of heat transfer compare to solid disc.

  16. Pressure Regulation in Nonlinear Hydraulic Networks by Positive and Quantized Controls

    NARCIS (Netherlands)

    Persis, Claudio De; Kallesøe, Carsten Skovmose

    2011-01-01

    We investigate an industrial case study of a system distributed over a network, namely, a large-scale hydraulic network which underlies a district heating system. The network comprises an arbitrarily large number of components (valves, pipes, and pumps). After introducing the model for this class of

  17. HYDRAULIC REDISTRIBUTION OF SOIL WATER IN TWO OLD-GROWTH CONIFEROUS FORESTS: QUANTIFYING PATTERNS AND CONTROLS

    Science.gov (United States)

    Although hydraulic redistribution of soil water (HR) by roots is a widespread phenomenon, the processes governing spatial and temporal patterns of HR are not well understood. We incorporated soil/plant biophysical properties into a simple model based on Darcy's law to predict sea...

  18. Development of brake system of railway vehicles for real-time HILS

    Science.gov (United States)

    Kim, Min-Soo; Park, Joon-Hyuk; Goo, Byeong-Choon

    2007-12-01

    Brake system of railway vehicles has a crucial role for the safety as well as riding quality of passengers. Its core technology for successful development of the brake system is to design of ECU (Electric Control Unit) containing antiskid control, brake blending control, load compensating control, and so on. Each development procedure of ECU involves a verifying test for each step and is completed by an evaluation test of the comprehensive performance verification for the overall systems. The development tool which is applied to this objective is the HILS (Hardware-In-the- Loop-Simulation). In order to design a controller, a good representative model of the system is needed. This paper describes the dynamic modeling of brake system of railway vehicle for HILS and analyzes some dynamic behavior under emergency braking force.

  19. Magnetic Braking Revisited

    CERN Document Server

    Taam, R E

    2003-01-01

    We present a description for the angular momentum loss rate due to magnetic braking for late type stars taking into account recent observational data on the relationship between stellar activity and rotation. The analysis is based on an idealized two component coronal model subject to constraints imposed on the variation of the coronal gas density with rotation period inferred from the observed variation of X-ray luminosity, L_x, with rotation rate, Omega, (L_x \\propto Omega^2) for single rotating dwarfs. An application of the model to high rotation rates leads to a gradual turnover of the X-ray luminosity which is similar to the saturation recently observed in rapidly rotating dwarfs. The resulting angular momentum loss rate, \\dot J, depends on Omega in the form \\dot J \\propto Omega^beta where beta ~ 3 for slow rotators and ~ 1.3 for fast rotators. The relation at high rotation rates significantly differs from the power law exponent for slowly rotating stars, depressing the angular momentum loss rate without...

  20. Design of Electric-hydraulic Control Butterfly Valve%电液动调节蝶阀的设计

    Institute of Scientific and Technical Information of China (English)

    王建新; 张逸芳

    2014-01-01

    Introduced process design、main content and key factors to consider of the electro-hydraulic control valve ,Discusses the points for attention and suggestions of valve body,actuator,control system design and calculation.%介绍了电液动调节蝶阀方案设计的过程、主要内容及考虑的关键因素,论述了阀门本体、执行机构、控制系统等设计计算的关注点及建议。