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Sample records for hydraulic controls rapids

  1. 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...

  2. 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.

  3. Rapid Hydraulic Assessment for Stream Restoration

    Science.gov (United States)

    2016-02-01

    account the hydraulic conditions of the stream being restored. This is true whether the project involves a few feet of bank stabilization or several...coefficient, α, expresses a correction for nonuniformity in the velocity distribution, and in most applications this value is assumed to be 1 or read from...a table (e.g., Chow 1959, p.28). The depth and slope angle terms can be replaced by a vertical expression of the depth, y, because in most rivers

  4. 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...

  5. 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...

  6. 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.

  7. 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.

  8. 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.

  9. Rapid hydraulic recovery in Eucalyptus pauciflora after drought: linkages between stem hydraulics and leaf gas exchange.

    Science.gov (United States)

    Martorell, Sebastià; Diaz-Espejo, Antonio; Medrano, Hipólito; Ball, Marilyn C; Choat, Brendan

    2014-03-01

    In woody plants, photosynthetic capacity is closely linked to rates at which the plant hydraulic system can supply water to the leaf surface. Drought-induced embolism can cause sharp declines in xylem hydraulic conductivity that coincide with stomatal closure and reduced photosynthesis. Recovery of photosynthetic capacity after drought is dependent on restored xylem function, although few data exist to elucidate this coordination. We examined the dynamics of leaf gas exchange and xylem function in Eucalyptus pauciflora seedlings exposed to a cycle of severe water stress and recovery after re-watering. Stomatal closure and leaf turgor loss occurred at water potentials that delayed the extensive spread of embolism through the stem xylem. Stem hydraulic conductance recovered to control levels within 6 h after re-watering despite a severe drought treatment, suggesting an active mechanism embolism repair. However, stomatal conductance did not recover after 10 d of re-watering, effecting tighter control of transpiration post drought. The dynamics of recovery suggest that a combination of hydraulic and non-hydraulic factors influenced stomatal behaviour post drought.

  10. 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...

  11. 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.

  12. 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...

  13. 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.

  14. 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.

  15. 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....

  16. 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...

  17. Problems associated with the use of rapid yielding hydraulic props.

    CSIR Research Space (South Africa)

    Glisson, FJ

    1998-08-01

    Full Text Available required to constantly move consumable support elements from surface to the stope face. This latter operation does not cease with the introduction of RYHP’s as pack timber or elongates are still transported. The effect is as such seldom quantified. Each... ton hydraulic props.10 Figure 1.2 Flow chart of the life of a hydraulic prop; from assembly to usage and repair when damaged. . . . . . . . . . . . . . . . . . 11 Figure 3.1 Performance of 10 hydraulic props that were batch tested prior...

  18. 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)…

  19. 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

  20. 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.

  1. 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.

  2. 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...

  3. 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.

  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. 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.

  8. 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.

  9. 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...

  10. 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.

  11. 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)....

  12. 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....

  13. 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...

  14. 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.

  15. 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.

  16. 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

  17. 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.

  18. 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.

  19. A novel sensor platform for the rapid hydraulic characterisation of freshwater ecosystems

    Science.gov (United States)

    Kriechbaumer, Thomas; Blackburn, Kim; Breckon, Toby; Gill, Andrew; Everard, Nick; Wright, Ros; Rivas Casado, Monica

    2014-05-01

    The spatially explicit quantification of hydraulic features provides valuable information for the physical habitat assessment of freshwater ecosystems. Collection of data on water velocities and depths using in-situ current meters or acoustic sensors on tethered boats is time-consuming and requires good site accessibility. Moreover, on smaller rivers precise spatial data referencing can be challenging, as river bank vegetation can block sky view to navigation satellites over a considerable proportion of the water surface. This paper describes the development and testing of a new small sized remote control sensor platform and a novel approach to spatial data referencing based on computer vision to enable the rapid hydraulic characterisation of habitats in small rivers. It highlights the manifold opportunities that recent achievements in the disciplines of computer science and electronics can create for the environmental sciences. The platform carries an acoustic Doppler current profiler (ADCP) to rapidly collect large amounts of data on water velocities and river depths, from which the spatial and temporal water velocity distributions can be derived. The 1.30m long and 0.60m wide platform hull has been designed to enable single person deployment. Platform pitch and roll magnitudes and periods are quantified at a frequency of 512Hz through a low-cost inertial measurement unit on board, allowing the quantification of the errors that these platform motions can cause in the ADCP data. Jet propulsion and a tail thruster ensure high manoeuvrability, minimum draught operation and greater safety than propellers. An on-board Raspberry Pi computer enables time-synchronised logging of data from a GPS unit, the ADCP and further sensors that may be added to the platform. Real-time serial communication between the Raspberry Pi and the embedded propulsion system control (an Arduino Uno microcontroller) builds the basis for future platform autonomy. This can enable the autonomous

  20. 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.

  1. 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.

  2. 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.

  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. 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.

  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. 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

  10. 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.

  11. 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.

  12. 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...

  13. 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.

  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. Leaf thermal and hydraulic capacitances - structural safeguards for rapid ambient fluctuations

    Science.gov (United States)

    Schymanski, S. J.; Or, D.; Zwieniecki, M.

    2011-12-01

    Leaves may be subjected to rapidly fluctuating irradiation or thermal conditions due to motion of sun flecks and clouds or passage of warm and dry wind gusts. Given a stomatal characteristic time scale (~5 min) for adjusting transpiration flux, fluctuations of environmental conditions at shorter time scales (~1 min) could push leaf hydraulic and thermal status beyond its operational limits resulting in xylem cavitation or overheating. As active stomatal protection may not be adequate, we propose that leaf thermal and hydraulic capacitances and hence leaf specific mass (hydrated thickness) provide passive protection and play a critical role for autonomous and intrinsic capacitive-based responses to rapid fluctuations. For example, a simple variable leaf mass per unit area can affect both thermal and hydraulic capacitances. Thus a thin leaf (0.2 mm) exposed to a sunfleck can experience an increase in leaf temperature by 20K in the order of 3 minutes, i.e. before stomata can activate evaporative cooling. Increasing leaf thickness can be an effective measure to increase the buffer for such environmental fluctuations, so that slower regulatory measures such as stomatal adjustments can take over before detrimental effects take place. Systematic measurements of thermal changes in response to step changes in radiation conditions were obtained using laser illumination and infra-red thermal imaging of leaf laser-illuminated area across a wide range of leaf morphologies from major plant divisions (ferns, gymnosperms and angiosperms). Results confirm inverse relationships between leaf thickness and temperature rise (measured as steady state temperature increase). Hydraulic impacts of such structural capacitance on xylem function will be discussed.

  17. 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.

  18. 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.

  19. 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

  20. 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...

  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. 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.

  3. Rapid shoot‐to‐root signalling regulates root hydraulic conductance via aquaporins

    National Research Council Canada - National Science Library

    VANDELEUR, REBECCA K; SULLIVAN, WENDY; ATHMAN, ASMINI; JORDANS, CHARLOTTE; GILLIHAM, MATTHEW; KAISER, BRENT N; TYERMAN, STEPHEN D

    2014-01-01

    Investigating the relationship between transpiration and root hydraulic conductance Vandeleur et al report that leaf area reduction reduces root hydraulic conductance in grapevine, soybean and maize...

  4. 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...

  5. 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

  6. 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....

  7. 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...

  8. 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.

  9. 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....

  10. A hydraulic model is compatible with rapid changes in leaf elongation under fluctuating evaporative demand and soil water status.

    Science.gov (United States)

    Caldeira, Cecilio F; Bosio, Mickael; Parent, Boris; Jeanguenin, Linda; Chaumont, François; Tardieu, François

    2014-04-01

    Plants are constantly facing rapid changes in evaporative demand and soil water content, which affect their water status and growth. In apparent contradiction to a hydraulic hypothesis, leaf elongation rate (LER) declined in the morning and recovered upon soil rehydration considerably quicker than transpiration rate and leaf water potential (typical half-times of 30 min versus 1-2 h). The morning decline of LER began at very low light and transpiration and closely followed the stomatal opening of leaves receiving direct light, which represent a small fraction of leaf area. A simulation model in maize (Zea mays) suggests that these findings are still compatible with a hydraulic hypothesis. The small water flux linked to stomatal aperture would be sufficient to decrease water potentials of the xylem and growing tissues, thereby causing a rapid decline of simulated LER, while the simulated water potential of mature tissues declines more slowly due to a high hydraulic capacitance. The model also captured growth patterns in the evening or upon soil rehydration. Changes in plant hydraulic conductance partly counteracted those of transpiration. Root hydraulic conductivity increased continuously in the morning, consistent with the transcript abundance of Zea maize Plasma Membrane Intrinsic Protein aquaporins. Transgenic lines underproducing abscisic acid, with lower hydraulic conductivity and higher stomatal conductance, had a LER declining more rapidly than wild-type plants. Whole-genome transcriptome and phosphoproteome analyses suggested that the hydraulic processes proposed here might be associated with other rapidly occurring mechanisms. Overall, the mechanisms and model presented here may be an essential component of drought tolerance in naturally fluctuating evaporative demand and soil moisture.

  11. 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.

  12. 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

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

    Directory of Open Access Journals (Sweden)

    Zoran Đukan Majkić

    2013-10-01

    characteristic which is to develop the ability of the driver to feel the road configuration, especially when going around a curve. In order to achieve this, a reactive element is built into the hydraulic servo control, with a task to absorb rapidly drive wheel oscillations during the reverse inclusion of the hydraulic servo control (from the drive wheels to the steering wheel. Determination of the dimensions of reactive elements and the stiffness of centering springs Taking the results of the static analysis into account, the dependence of force and the torsional resistance in drive wheels can be obtained. From this dependence, P can be found  as a function of . Control calculation The control calculation is performed after selecting general elements of the control system and the amplifier.The control  calculation allows the reduction of amplifier dimensions through the transmission gear mechanism, by selecting the   part onto which amplifier force.is applied. Conclusion The calculation of the control system helps in determining the basic parameters of its elements and assemblies, thus providing the control over the vehicle motion. The main input data in calculating hydraulic servo control is the determination of torsional resistance in drive wheels. In order to achieve proper torque values in torsional resistance, it is necessary to take into account  the given influencing factors since this ensures, on the one hand, lower load on the control system elements and, on the other hand, easier control by reducing the force applied to the steering wheel. ECE Regulation № 79 defines the maximum force that can be applied to the steering wheel, so this paremeter of control systems must be taken into account in vehicle design. The piston stroke and the cylinder length are determined for maximum torque angles of drive wheels, followed vy the determination of the cylinder piston diameter. The tendency to reverse the action of the  hydraulic servo control would violate the basic

  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. 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.

  17. 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....

  18. 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....

  19. 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...

  20. 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...

  1. 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.

  2. 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.

  3. 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.

  4. 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...

  5. 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.

  6. Application of a new hydraulic conductivity model to simulate rapid groundwater fluctuations in the Eel River watershed in Northern California

    Science.gov (United States)

    Vrettas, M. D.; Fung, I. Y.

    2015-12-01

    High-frequency multi-year observations of the water table at several wells in the Angelo Coast Range Reserve in the Eel River Watershed in northern California show rapid fluctuations, where the water table, some 10-15 meters below the surface, rises by as much as 1 meter in a day or two after the first storms of the rain season. The observations highlight preferential flow through weathered bedrock, which can store as much as 30% of the moisture in the column ("rock moisture"). This rapid transfer of moisture and storage at depth could have a significant impact on ecosystem dynamics and the water and energy budgets of the atmosphere on various time scales. Despite its high importance, preferential flow through weather bedrock is not routinely captured in most climate models. This work presents a new hydraulic conductivity parameterization that captures the preferential flow, with straightforward implementation into current global climate models. The hydraulic conductivity is represented as a product of the effective saturation (normalized water content) and a background hydraulic conductivity Kbkg, drawn from a depth dependent lognormal distribution. A unique feature of the parameterization is that the variance of hydraulic conductivity is large when there is little rock moisture, and decreases with increasing saturation, mimicking flow through fractures. The new method is applied to seven wells locations on a steep (35 degrees) hill-slope in the Eel River watershed in Northern California, for the duration of six years and estimates of the model parameters are provided by assimilating, into Richards' equation, measurements of precipitation [mm] and water table depths [m] at 30-minute time intervals. The simulation results show that the new approach yields a good agreement of the rapid rise of the observed water table at the tested well locations. Furthermore, the water stored in the weathered bedrock is estimated to be in the range between 32% and 41%, which could

  7. 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...

  8. 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.

  9. 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.

  10. Risk Control Amid Rapid Expansion

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    China’s flourishing hotel industry not only presents endless business opportunities but also poses unprecedented risks for international hotel management companies. In a recent article, Gary Tillyer, Vice President of the Argyle Hotel Group (Australia) in China, put forward a series of risk control guidelines. Excerpts follow:

  11. 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.

  12. 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...

  13. 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.

  14. 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.

  15. 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...

  16. 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.

  17. 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.

  18. 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

  19. 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.

  20. 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.

  1. 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

  2. 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....

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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...

  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. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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...

  1. 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...

  2. 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...

  3. 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...

  4. 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.

  5. 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...

  6. Smith Predictor Based Robust Rapid Tracking Controller

    Institute of Scientific and Technical Information of China (English)

    LIU Hongbin; HU Dejin

    2006-01-01

    Precise model is hard to get in real application, a Smith predictor based robust rapid tracking controller for inaccurate model is proposed. Zero phase error feedforward controller which increases system closed-loop dynamics and disturbance observer based Smith feedback control which diminishes model hysteresis and improves stability are integrated. This method is applied in the noncircular machining with piezoelectric ceramic driver. The simulation and experiment show that the performance robustness and stability are well balanced in bandwidth about 200 Hz. The controller can decrease system hysteresis and get good tracking performance for predefined square-wave input signal.

  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. 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%.

  9. 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.

  10. 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.

  11. 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.

  12. 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...

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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...

  19. 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.

  20. Rapid measurement of field-saturated hydraulic conductivity for areal characterization

    Science.gov (United States)

    Nimmo, J.R.; Schmidt, K.M.; Perkins, K.S.; Stock, J.D.

    2009-01-01

    To provide an improved methodology for characterizing the field-saturated hydraulic conductivity (Kfs) over broad areas with extreme spatial variability and ordinary limitations of time and resources, we developed and tested a simplified apparatus and procedure, correcting mathematically for the major deficiencies of the simplified implementation. The methodology includes use of a portable, falling-head, small-diameter (???20 cm) single-ring infiltrometer and an analytical formula for Kfs that compensates both for nonconstant falling head and for the subsurface radial spreading that unavoidably occurs with small ring size. We applied this method to alluvial fan deposits varying in degree of pedogenic maturity in the arid Mojave National Preserve, California. The measurements are consistent with a more rigorous and time-consuming Kfs measurement method, produce the expected systematic trends in Kfs when compared among soils of contrasting degrees of pedogenic development, and relate in expected ways to results of widely accepted methods. ?? Soil Science Society of America. All rights reserved.

  1. 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....

  2. 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.

  3. 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.

  4. 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.

  5. 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...

  6. 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.

  7. 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.

  8. 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.

  9. 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

  10. 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

  11. 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...

  12. 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...

  13. 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.

  14. 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.

  15. 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.

  16. 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.

  17. 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.

  18. 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...

  19. 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.

  20. 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.

  1. 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.

  2. 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...

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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)

  8. 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.

  9. 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...

  10. 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...

  11. 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.

  12. 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...

  13. 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.

  14. 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....

  15. 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.

  16. 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.

  17. 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.

  18. 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

  19. 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.

  20. 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.

  1. 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.

  2. 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...

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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...

  9. 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.

  10. 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.

  11. 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.

  12. 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.

  13. 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

  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. 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.

  18. Automatic Control of Personal Rapid Transit Vehicles

    Science.gov (United States)

    Smith, P. D.

    1972-01-01

    The requirements for automatic longitudinal control of a string of closely packed personal vehicles are outlined. Optimal control theory is used to design feedback controllers for strings of vehicles. An important modification of the usual optimal control scheme is the inclusion of jerk in the cost functional. While the inclusion of the jerk term was considered, the effect of its inclusion was not sufficiently studied. Adding the jerk term will increase passenger comfort.

  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. 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...

  3. Gas exchange recovery following natural drought is rapid unless limited by loss of leaf hydraulic conductance: evidence from an evergreen woodland.

    Science.gov (United States)

    Skelton, Robert P; Brodribb, Timothy J; McAdam, Scott A M; Mitchell, Patrick J

    2017-09-01

    Drought can cause major damage to plant communities, but species damage thresholds and postdrought recovery of forest productivity are not yet predictable. We used an El Niño drought event as a natural experiment to test whether postdrought recovery of gas exchange could be predicted by properties of the water transport system, or if metabolism, primarily high abscisic acid concentration, might delay recovery. We monitored detailed physiological responses, including shoot sapflow, leaf gas exchange, leaf water potential and foliar abscisic acid (ABA), during drought and through the subsequent rehydration period for a sample of eight canopy and understory species. Severe drought caused major declines in leaf water potential, elevated foliar ABA concentrations and reduced stomatal conductance and assimilation rates in our eight sample species. Leaf water potential surpassed levels associated with incipient loss of leaf hydraulic conductance in four species. Following heavy rainfall gas exchange in all species, except those trees predicted to have suffered hydraulic impairment, recovered to prestressed rates within 1 d. Recovery of plant gas exchange was rapid and could be predicted by the hydraulic safety margin, providing strong support for leaf vulnerability to water deficit as an index of damage under natural drought conditions. © 2017 The Authors. New Phytologist © 2017 New Phytologist Trust.

  4. 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.

  5. 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.

  6. Program ELM: A tool for rapid thermal-hydraulic analysis of solid-core nuclear rocket fuel elements

    Science.gov (United States)

    Walton, James T.

    1992-01-01

    This report reviews the state of the art of thermal-hydraulic analysis codes and presents a new code, Program ELM, for analysis of fuel elements. ELM is a concise computational tool for modeling the steady-state thermal-hydraulics of propellant flow through fuel element coolant channels in a nuclear thermal rocket reactor with axial coolant passages. The program was developed as a tool to swiftly evaluate various heat transfer coefficient and friction factor correlations generated for turbulent pipe flow with heat addition which have been used in previous programs. Thus, a consistent comparison of these correlations was performed, as well as a comparison with data from the NRX reactor experiments from the Nuclear Engine for Rocket Vehicle Applications (NERVA) project. This report describes the ELM Program algorithm, input/output, and validation efforts and provides a listing of the code.

  7. 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.

  8. 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.

  9. 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

  10. 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。

  11. 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.  

  12. 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.

  13. 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.

  14. 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...

  15. 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.

  16. 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.

  17. 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...

  18. 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...

  19. 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.

  20. 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.

  1. 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

  2. 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.

  3. 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.

  4. Exploitation of rapid acidification phenomena of food waste in reducing the hydraulic retention time (HRT) of high rate anaerobic digester without conceding on biogas yield.

    Science.gov (United States)

    Kuruti, Kranti; Begum, Sameena; Ahuja, Shruti; Anupoju, Gangagni Rao; Juntupally, Sudharshan; Gandu, Bharath; Ahuja, Devender Kumar

    2017-02-01

    The aim of the present work was to study and infer a full scale experience on co-digestion of 1000kg of FW (400kg cooked food waste and 600kg uncooked food waste) and 2000L of rice gruel (RG) on daily basis based on a high rate biomethanation technology called "Anaerobic gas lift reactor" (AGR). The pH of raw substrate was low (5.2-5.5) that resulted in rapid acidification phenomena with in 12h in the feed preparation tank that facilitated to obtain a lower hydraulic residence time (HRT) of 10days. At full load, AGR was fed with 245kg of total solids, 205kg of volatile solids (167kg of organic matter in terms of chemical oxygen demand) which resulted in the generation of biogas and bio manure of 140m(3)/day and 110kg/day respectively. The produced biogas replaced 60-70kg of LPG per day.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 液控核辐射环境拆除机器人控制系统%Control System for Hydraulic Demolition Robot Used in Nuclear Environment

    Institute of Scientific and Technical Information of China (English)

    皮明; 杨涛; 张华

    2014-01-01

    在核电站、核设施和其他一些强辐射高危环境中,遥控拆除机器人技术得到了广泛的应用,通过遥控摄像机进行远距离监视、控制和操纵拆除机器人工作,完成拆除核设施,搬运、分拣、装运核废料和有毒物质,以及其他一些劳动强度大、危险性高的工作。液控拆除机器人体积小、力量大、机动性强,可快捷、高效地投入危险环境中。针对核辐射环境下的应用要求,研制开发了一种液压驱动的拆除机器人系统,并对其几何结构特性和液控系统进行了详细分析,最后通过ADAMS与EASY5的联合仿真,验证了液控系统的有效性。%In the nuclear power station,nuclear facilities and strong radiation risk environment,technology of remote control demolition robot is widely used. The working of robot was monitored in far off distance,regulated and operated through the remote cam-eras,to complete demolition,selecting,remove and transport toxic nuclear waste,and some other high intensity-risk labor. The hy-draulic controlled demolition robot had smaller volume,more force and high mobility,which could be deployed more effectively and rapidly in dangerous environment. Aimed at the requirement of application in radiation environment,the system of demolition robot controlled by hydraulic was developed,and its geometric structural characteristics and hydraulic control system were analyzed in detail. At last,a co-simulation is carried out between ADAMS and EASY5,verifying effectiveness of hydraulic control system.

  13. 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...

  14. 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.

  15. 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

  16. Rapid control and feedback rates enhance neuroprosthetic control

    Science.gov (United States)

    Shanechi, Maryam M.; Orsborn, Amy L.; Moorman, Helene G.; Gowda, Suraj; Dangi, Siddharth; Carmena, Jose M.

    2017-01-01

    Brain-machine interfaces (BMI) create novel sensorimotor pathways for action. Much as the sensorimotor apparatus shapes natural motor control, the BMI pathway characteristics may also influence neuroprosthetic control. Here, we explore the influence of control and feedback rates, where control rate indicates how often motor commands are sent from the brain to the prosthetic, and feedback rate indicates how often visual feedback of the prosthetic is provided to the subject. We developed a new BMI that allows arbitrarily fast control and feedback rates, and used it to dissociate the effects of each rate in two monkeys. Increasing the control rate significantly improved control even when feedback rate was unchanged. Increasing the feedback rate further facilitated control. We also show that our high-rate BMI significantly outperformed state-of-the-art methods due to higher control and feedback rates, combined with a different point process mathematical encoding model. Our BMI paradigm can dissect the contribution of different elements in the sensorimotor pathway, providing a unique tool for studying neuroprosthetic control mechanisms.

  17. 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.

  18. 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...

  19. 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.

  20. 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.

  1. 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

  2. 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...

  3. 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.

  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. Rapid Control Prototyping Plataform for Didactic Plant Motor DC

    Directory of Open Access Journals (Sweden)

    Cristian Bazán-Orobio

    2013-06-01

    Full Text Available In this paper a design, implementation and validation of a Rapid Control Prototype platform for a plant based on a DC motor is proposed. This low-cost prototype provides of an electronic card (with a motor DC and sensors manipulated by PC with free software tools using Linux, Scilab / Scicos and RTAI-Lab. This RCP System allows developing speed -position control trainings by using different types of PID industrial controllers with anti – wind up and bump less transfer schemes. We develop a speed control application structured in four steps: identification, controller design, simulation and real time control, where there are pedagogical advantages of a platform that not only allows simulation but also real-time control of a plant.

  7. 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.

  8. 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.

  9. 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.

  10. 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...

  11. 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.

  12. 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...

  13. 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

  14. 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...

  15. Rapid laser-free ion cooling by controlled collision

    CERN Document Server

    Lau, Hoi-Kwan

    2012-01-01

    I propose a method to transfer the axial motional excitation of a hot ion to a coolant ion with possibly different mass by precisely controlling the ion separation and the local trapping potentials during ion collision. The whole cooling process can be conducted diabatically, involving only a few oscillation periods of the harmonic trap. With sufficient coolant ions pre-prepared, this method can rapidly re-cool ion qubits in quantum information processing without applying lengthy laser cooling.

  16. 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。

  17. 基于FluidSIM-Hydraulic的注塑机液压回路控制分析%Control Analysis for Hydraulic Loop of Plastic Injection Molding Machine Based on FluidSIM-Hydraulic

    Institute of Scientific and Technical Information of China (English)

    叶金玲; 周钦河; 黄诚

    2015-01-01

    Hydraulic control system of plastic injection molding machine was designed using FluidSIM⁃Hydraulic software. The structure and working principle of the plastic injection molding machine were introduced, its hydraulic loop and electric loop were de⁃signed and optimized. The plastic injection molding machine has gained good affection in actual production.%基于FluidSIM⁃Hydraulic软件对注塑机液压回路控制系统进行分析。介绍了注塑机的结构原理,并优化设计了液压回路及电气控制系统,通过二者有效的结合成功地将模拟仿真后的模型应用到了实际生产中,取得了良好的效果。

  18. 基于电液比例控制的液压支架搬运技术研究%Research on hydraulic support handling technology based on electro-hydraulic proportional control system

    Institute of Scientific and Technical Information of China (English)

    周国力; 杨国宏

    2016-01-01

    Abstr act: According to the requirements of the working face of the coal mine hydraulic support installation and dismantle mechanization process, a novel kind of hydraulic support handling technology based on electro-hydraulic proportional control system is proposed. The hydrau lic drive system with proportional control technology uses the closed volume control circuit system of the electro-hydraulic proportional variable displacement pump control motor as the driving scheme of the hydraulic support transportation vehicle system. The Matlab software is used for the system simulation. In order to improve the stability and fast performance of the system, a genetic algorithm based PID correction control is presented and the simulation results show that the system has good stability and better control performance after correction.%根据煤矿井下工作面液压支架安装搬运的技术要求,提出了一种采用电液比例技术驱动控制的液压支架搬运系统。该系统采用电液控制技术,采用电液比例变量泵控马达闭式容积调速回路系统作为液压支架搬运系统的动力驱动方案。运用Matlab软件对系统进行了仿真。为了进一步改善系统的稳定性和快速性,提出了基于遗传算法的PID校正控制方案。仿真结果表明,校正后的系统具有较好的稳定性和控制效果。

  19. Control of dense collagen gel scaffolds for tissue engineering through measurement and modelling of hydraulic permeability

    Science.gov (United States)

    Serpooshan, Vahid

    Among various natural biopolymers, type I collagen gels have demonstrated the highest potential as biomimetic scaffolds for tissue engineering (TE). However, the successful application of collagen gels requires a greater understanding of the relationship between their microstructure and physical-mechanical properties. Therefore, a precise method to modulate collagen gel microstructure in order to attain optimal scaffold properties for diverse biomedical applications is necessary. This dissertation describes a new approach to produce collagen gels with defined microstructures, quantified by hydraulic permeability ( k), in order to optimize scaffold properties for TE applications. It was hypothesized that the measurement of k can be used to study the role of microstructure in collagen gel properties, as well as cell function and cell-scaffold interactions. Applying increasing levels of plastic compression (PC) to the highly hydrated collagen gels resulted in an increase in collagen fibrillar density, reduced Happel model derived k values, increased gel stiffness, promoted MSC metabolic activity, osteogenic differentiation, and mineral deposition, while cell-induced gel contraction diminished. Thus, collagen gels with lower k and higher stiffness values exhibited greater potential for bone tissue engineering. Correlating between collagen gel microstructure, k, and fibroblast function within collagen gels indicated that increasing the level of PC yielded a reduction in pore size and an increase in fibril bundle diameter. Decrease in k values resulted in a decrease in gel contraction and an increase in cell metabolic activity. An increase in cell density accelerated contraction. Therefore, fibroblast function within collagen gels can be optimised by a balance between the microstructure, k, and cell seeding density. Developing a micromechanical model to measure experimental k of collagen gels during confined compression revealed the formation of a dense collagen lamella

  20. Thermally Actuated Hydraulic Pumps

    Science.gov (United States)

    Jones, Jack; Ross, Ronald; Chao, Yi

    2008-01-01

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

  1. 船用多液动蝶阀启闭液压控制系统的设计%Design on Hydraulic Control System for Marine Muliti-hydraulic Butterfly Valve On-off

    Institute of Scientific and Technical Information of China (English)

    于娜; 杨志贤; 毛卫平; 顾寄南

    2016-01-01

    A hydraulic system to realize the marine butterfly valve open-shut and opening was designed, and the project of the hy-draulic control system was made. Combining with the actual working condition of the system, the selection and parameter of the main components of the hydraulic system were analyzed and calculated. Considering the working feature of the hydraulic control system for marine butterfly valve, the hydraulic power unit was designed in automatic unloading mode and the accumulator was added to supply hydraulic oil assistantly in order to ensure the pressure maintain within the allowable scope of the work, and the safe and stable opera-tion of the whole system are ensured.%设计了一种船用蝶阀启、 闭液压控制系统,确定了该液压系统的控制方案;结合该系统的实际工况要求,对该系统中各主要元件的选型和参数进行了分析和计算;结合船用蝶阀液压遥控系统的工作特点,对液压泵站进行了设计,设置两台液压泵互为备用,并增加蓄能器辅助供油,同时泵站采用自动卸荷方式,保证系统油压维持在允许的工作范围内,从而确保了整个船用阀门液压遥控系统的的安全稳定运行.

  2. Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    2005-01-01

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

  3. 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.

  4. Bundle-sheath aquaporins play a role in controlling Arabidopsis leaf hydraulic conductivity.

    Science.gov (United States)

    Sade, Nir; Shatil-Cohen, Arava; Moshelion, Menachem

    2015-01-01

    The role of molecular mechanisms in the regulation of leaf hydraulics (K(leaf)) is still not well understood. We hypothesized that aquaporins (AQPs) in the bundle sheath may regulate K(leaf). To examine this hypothesis, AQP genes were constitutively silenced using artificial microRNAs and recovery was achieved by targeting the expression of the tobacco AQP (NtAQP1) to bundle-sheath cells in the silenced plants. Constitutively silenced PIP1 plants exhibited decreased PIP1 transcript levels and decreased K(leaf). However, once the plants were recovered with NtAQP1, their K(leaf) values were almost the same as those of WT plants. We also demonstrate the important role of ABA, acting via AQP, in that recovery and K(leaf) regulation. These results support our previously raised hypothesis concerning the role of bundle-sheath AQPs in the regulation of leaf hydraulics.

  5. Nonlinear modeling and identification of the electro-hydraulic control system of an excavator arm using BONL model

    Science.gov (United States)

    Yan, Jun; Li, Bo; Guo, Gang; Zeng, Yonghua; Zhang, Meijun

    2013-11-01

    Electro-hydraulic control systems are nonlinear in nature and their mathematic models have unknown parameters. Existing research of modeling and identification of the electro-hydraulic control system is mainly based on theoretical state space model, and the parameters identification is hard due to its demand on internal states measurement. Moreover, there are also some hard-to-model nonlinearities in theoretical model, which needs to be overcome. Modeling and identification of the electro-hydraulic control system of an excavator arm based on block-oriented nonlinear(BONL) models is investigated. The nonlinear state space model of the system is built first, and field tests are carried out to reveal the nonlinear characteristics of the system. Based on the physic insight into the system, three BONL models are adopted to describe the highly nonlinear system. The Hammerstein model is composed of a two-segment polynomial nonlinearity followed by a linear dynamic subsystem. The Hammerstein-Wiener(H-W) model is represented by the Hammerstein model in cascade with another single polynomial nonlinearity. A novel Pseudo-Hammerstein-Wiener(P-H-W) model is developed by replacing the single polynomial of the H-W model by a non-smooth backlash function. The key term separation principle is applied to simplify the BONL models into linear-in-parameters structures. Then, a modified recursive least square algorithm(MRLSA) with iterative estimation of internal variables is developed to identify the all the parameters simultaneously. The identification results demonstrate that the BONL models with two-segment polynomial nonlinearities are able to capture the system behavior, and the P-H-W model has the best prediction accuracy. Comparison experiments show that the velocity prediction error of the P-H-W model is reduced by 14%, 30% and 75% to the H-W model, Hammerstein model, and extended auto-regressive (ARX) model, respectively. This research is helpful in controller design, system

  6. Hydraulic structures

    CERN Document Server

    Chen, Sheng-Hong

    2015-01-01

    This book discusses in detail the planning, design, construction and management of hydraulic structures, covering dams, spillways, tunnels, cut slopes, sluices, water intake and measuring works, ship locks and lifts, as well as fish ways. Particular attention is paid to considerations concerning the environment, hydrology, geology and materials etc. in the planning and design of hydraulic projects. It also considers the type selection, profile configuration, stress/stability calibration and engineering countermeasures, flood releasing arrangements and scouring protection, operation and maintenance etc. for a variety of specific hydraulic structures. The book is primarily intended for engineers, undergraduate and graduate students in the field of civil and hydraulic engineering who are faced with the challenges of extending our understanding of hydraulic structures ranging from traditional to groundbreaking, as well as designing, constructing and managing safe, durable hydraulic structures that are economical ...

  7. Research and application of coal and gas outburst control measure based on hydraulic extrusion in roadway

    Energy Technology Data Exchange (ETDEWEB)

    Liu, M.; Pan, H.; Li, Y.; Hu, B.; Chen, W. [Henan Polytechnic University, Jiaozuo (China)

    2007-02-15

    The technology system and equipment of hydraulic extrusion were presented. Based on the actual conditions of Liyi Coal Mine, reasonable parameters of injecting water were studied. The measure caused the stress concentration region of the coal seam to move forward, the pressure relief region was widened, and gas was released efficiently. The remarkable effect of coal and gas outburst prevention was achieved and the roadway driving speed was increased by 1.5 times. 7 refs., 5 figs.

  8. HYDRAULIC SERVO

    Science.gov (United States)

    Wiegand, D.E.

    1962-05-01

    A hydraulic servo is designed in which a small pressure difference produced at two orifices by an electrically operated flapper arm in a constantly flowing hydraulic loop is hydraulically amplified by two constant flow pumps, two additional orifices, and three unconnected ball pistons. Two of the pistons are of one size and operate against the additional orifices, and the third piston is of a different size and operates between and against the first two pistons. (AEC)

  9. Design of Spinning Forming Hydraulic Press's Hydraulics and Control System%旋压成形液压机液压系统及控制系统的设计

    Institute of Scientific and Technical Information of China (English)

    李卫民; 丛树阳

    2011-01-01

    After careful analyzing the work of the hydrostatic press,the design project was determined,hydraulic schematic diagram of hydraulic spinning press was formulated,and pupm stations of the hydraulic system was designed.Using CAD technology designed integrated valves of the hydraulic system.The control system was based on the movement sequence of hydraulic system and the principle of automatic control.Through using the PLC and touch screen joint programming,PLC program development simulation software,the use of man-machine interface configuration software for configuration and programming and PLC and human-machine interface technology of communication,the key issuse of determining and selection of components and technical parameters in hydraulic system of the hydraulic spinning machine have been solved,as well as to the design of automatic control procedures and the control procedures and the control design of man-machine interface.%通过对旋压液压机的工况的分析,确定了设计方案,制定了完成旋压加工的旋压液压机液压原理图,设计了液压系统的液压泵站,采用CAD技术设计了集成式液压系统的集成块阀组;其控制系统是以液压系统的动作顺序和自动控制原理为基础,采用PLC和触摸屏联合编程技术、PLC程序开发软件编程模拟、人机界面运用组态软件进行组态和编程、PLC和人机界面的通讯等技术,解决了旋压液压机液压系统中各部件技术参数的确定与选用、自动控制程序的设计、人机界面的控制设计等关键问题.

  10. Experimental-based Modelling and Simulation of Water Hydraulic Mechatronics Test Facilities for Motion Control and Operation in Environmental Sensitive Applications` Areas

    DEFF Research Database (Denmark)

    Conrad, Finn; Pobedza, J.; Sobczyk, A.

    2003-01-01

    proportional valves and servo actuators for motion control and power transmission undertaken in co-operation by Technical University, DTU and Cracow University of Technology, CUT. The results of this research co-operation include engineering design and test of simulation models compared with two mechatronic......The paper presents experimental-based modelling, simulation, analysis and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. The contributions includes results from on-going research projects on fluid power and mechatronics based on tap water hydraulic...... test rig facilities powered by environmental friendly water hydraulic servo actuator system. Test rigs with measurement and data acquisition system were designed and build up with tap water hydraulic components of the Danfoss Nessie® product family. This paper presents selected experimental...

  11. For God (or) country: the hydraulic relation between government instability and belief in religious sources of control.

    Science.gov (United States)

    Kay, Aaron C; Shepherd, Steven; Blatz, Craig W; Chua, Sook Ning; Galinsky, Adam D

    2010-11-01

    It has been recently proposed that people can flexibly rely on sources of control that are both internal and external to the self to satisfy the need to believe that their world is under control (i.e., that events do not unfold randomly or haphazardly). Consistent with this, past research demonstrates that, when personal control is threatened, people defend external systems of control, such as God and government. This theoretical perspective also suggests that belief in God and support for governmental systems, although seemingly disparate, will exhibit a hydraulic relationship with one another. Using both experimental and longitudinal designs in Eastern and Western cultures, the authors demonstrate that experimental manipulations or naturally occurring events (e.g., electoral instability) that lower faith in one of these external systems (e.g., the government) lead to subsequent increases in faith in the other (e.g., God). In addition, mediation and moderation analyses suggest that specific concerns with order and structure underlie these hydraulic effects. Implications for the psychological, sociocultural, and sociopolitical underpinnings of religious faith, as well as system justification theory, are discussed.

  12. Hydraulic System Design of Hydraulic Actuators for Large Butterfly Valves

    Directory of Open Access Journals (Sweden)

    Ye HUANG

    2014-09-01

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

  13. A consistent high primary production and chlorophyll-a maximum in a narrow strait – effects of hydraulic control

    DEFF Research Database (Denmark)

    Lund-Hansen, Lars Chresten; Nielsen, Morten Holtegaard; Bruhn, Annette

    2008-01-01

    LB where Secchi depth reaches a minimum. Stratification showed a clear minimum in central LB where extended mixing prevails whereas strong stratification occurred in northern and southern LB. It is shown that mixed conditions in central LB were related to hydraulic control and super-critical flow...... conditions, as current derived energy for the mixing by comparison was too low. Nutrient (NO2 + NO3) concentrations remained high (~ 5 μM) in the bottom layer following the spring bloom. It is shown that there is a more or less continuous inflow of nutrient rich bottom water into central LB, which through...

  14. Extended state observer–based fractional order proportional–integral–derivative controller for a novel electro-hydraulic servo system with iso-actuation balancing and positioning

    Directory of Open Access Journals (Sweden)

    Qiang Gao

    2015-12-01

    Full Text Available Aiming at balancing and positioning of a new electro-hydraulic servo system with iso-actuation configuration, an extended state observer–based fractional order proportional–integral–derivative controller is proposed in this study. To meet the lightweight requirements of heavy barrel weapons with large diameters, an electro-hydraulic servo system with a three-chamber hydraulic cylinder is especially designed. In the electro-hydraulic servo system, the balance chamber of the hydraulic cylinder is used to realize active balancing of the unbalanced forces, while the driving chambers consisting of the upper and lower chambers are adopted for barrel positioning and dynamic compensation of external disturbances. Compared with conventional proportional–integral–derivative controllers, the fractional order proportional–integral–derivative possesses another two adjustable parameters by expanding integer order to arbitrary order calculus, resulting in more flexibility and stronger robustness of the control system. To better compensate for strong external disturbances and system nonlinearities, the extended state observer strategy is further introduced to the fractional order proportional–integral–derivative control system. Numerical simulation and bench test indicate that the extended state observer–based fractional order proportional–integral–derivative significantly outperforms proportional–integral–derivative and fractional order proportional–integral–derivative control systems with better control accuracy and higher system robustness, well demonstrating the feasibility and effectiveness of the proposed extended state observer–based fractional order proportional–integral–derivative control strategy.

  15. Improving actuation efficiency through variable recruitment hydraulic McKibben muscles: modeling, orderly recruitment control, and experiments.

    Science.gov (United States)

    Meller, Michael; Chipka, Jordan; Volkov, Alexander; Bryant, Matthew; Garcia, Ephrahim

    2016-11-03

    Hydraulic control systems have become increasingly popular as the means of actuation for human-scale legged robots and assistive devices. One of the biggest limitations to these systems is their run time untethered from a power source. One way to increase endurance is by improving actuation efficiency. We investigate reducing servovalve throttling losses by using a selective recruitment artificial muscle bundle comprised of three motor units. Each motor unit is made up of a pair of hydraulic McKibben muscles connected to one servovalve. The pressure and recruitment state of the artificial muscle bundle can be adjusted to match the load in an efficient manner, much like the firing rate and total number of recruited motor units is adjusted in skeletal muscle. A volume-based effective initial braid angle is used in the model of each recruitment level. This semi-empirical model is utilized to predict the efficiency gains of the proposed variable recruitment actuation scheme versus a throttling-only approach. A real-time orderly recruitment controller with pressure-based thresholds is developed. This controller is used to experimentally validate the model-predicted efficiency gains of recruitment on a robot arm. The results show that utilizing variable recruitment allows for much higher efficiencies over a broader operating envelope.

  16. Reducing leaks in water distribution networks. Controlling pressure by means of automatic hydraulic valves; Reduccion de fugas en redes de distribucion de agua. Control de la presion mediante valvulas hidraulicas automaticas

    Energy Technology Data Exchange (ETDEWEB)

    Singla Font, S.

    2005-07-01

    Any water distribution network, bet it of drinking water or irrigation water, always loses an inevitable amount. One of the main ways to reduce leaks is to optimise the pressure in the network by means of hydraulic valves with different types of control devices. These can be either completely hydraulic or supplemented by electronic systems. (Author)

  17. Improvement of diesel engine performance by hydraulically powered electronic control (mechatronics) system. Hakuyo diesel kikan no mechatronics system ni yoru seino kojo

    Energy Technology Data Exchange (ETDEWEB)

    Sonoda, K.; Nakamura, Y.; Kajima, T.; Sato, S.; Fujii, T.; Tobe, Y. (Kawasaki Heavy Industries, Ltd., Tokyo (Japan))

    1992-07-20

    This paper describes new hydraulically-actuated mechanisms for both fuel injection and inlet/exhaust valve operation of diesel engines through solenoid valves, which obviate the conventional cam-driven system. These mechanisms were integrated with an electronic control unit also developed in this study and they were mounted as a mechatronics system'' on a power-increased single-cylinder engine. This mechatronics system was mainly composed of an injection control. boost and accumulation component, an inlet and exhaust valve control component, a solenoid valve, an electronic control equipment, a hydraulic power unit, and a maneuvering unit. The verification test was carried out for the improvement of diesel engine performance by the hydraulically powered mechatronics system. As a result, it was proved not only that these mechanisms provide stable operating characteristics over a wide range of conditions, but also that the electronic control system allows accurate, smooth response. 3 refs., 23 figs., 2 tabs.

  18. 液压比例控制系统在液压支架用安全阀试验台上的应用%Application of Hydraulic Proportional Control System in Hydraulic Safety Valve Test Table

    Institute of Scientific and Technical Information of China (English)

    马强

    2013-01-01

    针对原液压支架用安全阀试验台流量调节过程繁琐、效率及检测精度低的问题,采用比例控制技术,进行闭环流量控制.改进了试验台的液压系统,实现了流量调节的自动化,提高了试验效率及检测精度.%There are problems existing in the original hydraulic safety valve test bench,including complicated flow controlling process and low accuracy and detection efficiency.To solve the problems,the proportional control technology was used to realize closed-loop flow control.The hydraulic system of the experiment platform was improved.The automation of flow regulation is realized,and the test efficiency and accuracy are improved.

  19. Hydraulic manipulator research at ORNL

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States); Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States)

    1997-03-01

    Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge National Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, 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 purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.

  20. Compensation for secondary uncertainty in electro-hydraulic servo system by gain adaptive sliding mode variable structure control

    Institute of Scientific and Technical Information of China (English)

    ZHANG You-wang; GUI Wei-hua

    2008-01-01

    Based on consideration of the differential relations between the immeasurable variables and measurable variables in electro-hydraulic servo system, adaptive dynamic recurrent fuzzy neural networks(ADRFNNs) were employed to identify the primary uncertainty and the mathematic model of the system was turned into an equivalent linear model with terms of secondary uncertainty. At the same time, gain adaptive sliding mode variable structure control(GASMVSC) was employed to synthesize the control effort. The results show that the unrealization problem caused by some system's immeasurable state variables in traditional fuzzy neural networks(TFNN) taking all state variables as its inputs is overcome. On the other hand, the identification by the ADRFNNs online with high accuracy and the adaptive function of the correction term's gain in the GASMVSC make the system possess strong robustness and improved steady accuracy, and the chattering phenomenon of the control effort is also suppressed effectively.

  1. 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.

  2. Control of Leaf Expansion by Nitrogen Nutrition in Sunflower Plants : ROLE OF HYDRAULIC CONDUCTIVITY AND TURGOR.

    Science.gov (United States)

    Radin, J W; Boyer, J S

    1982-04-01

    Nitrogen nutrition strongly affected the growth rate of young sunflower (Helianthus annuus L.) leaves. When plants were grown from seed on either of two levels of N availability, a 33% decrease in tissue N of expanding leaves was associated with a 75% overall inhibition of leaf growth. Almost all of the growth inhibition resulted from a depression of the daytime growth rate. Measurements of pressure-induced water flux through roots showed that N deficiency decreased root hydraulic conductivity by about half. Thus, N deficiency lowered the steady-state water potential of expanding leaves during the daytime when transpiration was occurring. As a result, N-deficient leaves were unable to maintain adequate turgor for growth in the daytime. N deficiency also decreased the hydraulic conductivity for water movement into expanding leaf cells in the absence of transpiration, but growth inhibition at night was much less than in the daytime. N nutrition had no detectable effects on plastic extensibility or the threshold turgor for growth.

  3. Validation of hydraulic tomography in an unconfined aquifer: A controlled sandbox study

    Science.gov (United States)

    Zhao, Zhanfeng; Illman, Walter A.; Yeh, Tian-Chyi J.; Berg, Steven J.; Mao, Deqiang

    2015-06-01

    In this study, we demonstrate the effectiveness of hydraulic tomography (HT) that considers variably saturated flow processes in mapping the heterogeneity of both the saturated and unsaturated zones in a laboratory unconfined aquifer. The successive linear estimator (SLE) developed by Mao et al. (2013c) for interpreting HT in unconfined aquifers is utilized to obtain tomograms of hydraulic conductivity (K), specific storage (Ss), and the unsaturated zone parameters (pore size parameter (α) and saturated water content (θs)) for the Gardner-Russo's model. The estimated tomograms are first evaluated by visually comparing them with stratigraphy visible in the sandbox. Results reveal that the HT analysis is able to accurately capture the location and extent of heterogeneity including high and low K layers within the saturated and unsaturated zones, as well as reasonable distribution patterns of α and θs for the Gardner-Russo's model. We then validate the estimated tomograms through predictions of drawdown responses of pumping tests not used during the inverse modeling effort. The strong agreement between simulated and observed drawdown curves obtained by pressure transducers and tensiometers demonstrates the robust performance of HT that considers variably saturated flow processes in unconfined aquifers and the unsaturated zone above it. In addition, compared to the case using the homogeneous assumption, HT results, as expected, yield significantly better predictions of drawdowns in both the saturated and unsaturated zones. This comparison further substantiates the unbiased and minimal variance of HT analysis with the SLE algorithm.

  4. Flow, form, and function: Distinguishing eco-hydraulic controls with relevance beyond the stream reach using synthetic channel morphologies

    Science.gov (United States)

    Lane, Belize; Pasternack, Gregory; Sandoval-Solis, Samuel

    2017-04-01

    Rivers are highly complex, dynamic systems that support numerous ecosystem functions including transporting sediment, modulating biogeochemical processes, and regulating habitat availability for native species. The extent and timing of these functions is largely controlled by the interplay of hydrologic dynamics (i.e., flow) and the shape and structure of the river channel (i.e., form). In spite of this, the majority of river restoration studies are limited to the influence of flow on ecosystem function without regard for the role of channel form in modulating eco-hydraulic response. The few studies that have effectively examined the flow-form interface highlight the scientific and management value of such analyses, but are highly resource intensive. This study represents a first attempt to apply synthetic channel design to the evaluation of river flow-form-function linkages, with the aim of improving basic understanding of how the interplay between flow and form affects ecosystem functions across a range of regionally-significant flows and forms with minimal resource requirements. Archetypal Mediterranean-montane channel types were used to guide the design of 3D synthetic morphologies. These morphologies were then used to quantify 2D eco-hydraulic response to different channel configurations under select hydrologic scenarios (distinguished by alteration and water year type). The eco-hydraulic performance of alternative flow-form settings, based on spatiotemporal patterns of depth and velocity, was evaluated with respect to a suite of river ecosystem functions related to geomorphic diversity, aquatic habitat, and riparian habitat. The methods described herein provide a potential design and inventory tool for quantifying river ecosystem functions and management trade-offs of alternative flow-form combinations with minimal resource and data requirements. While addressing specific scientific questions of interest for Mediterranean-montane rivers, the general framework

  5. Basic hydraulics

    CERN Document Server

    Smith, P D

    1982-01-01

    BASIC Hydraulics aims to help students both to become proficient in the BASIC programming language by actually using the language in an important field of engineering and to use computing as a means of mastering the subject of hydraulics. The book begins with a summary of the technique of computing in BASIC together with comments and listing of the main commands and statements. Subsequent chapters introduce the fundamental concepts and appropriate governing equations. Topics covered include principles of fluid mechanics; flow in pipes, pipe networks and open channels; hydraulic machinery;

  6. Effect of stiffness and movement speed on selected dynamic torque characteristics of hydraulic-actuation joystick controls for heavy vehicles.

    Science.gov (United States)

    Oliver, Michele; Rogers, Robert; Rickards, Jeremy; Tingley, Maureen; Biden, Edmund

    2006-02-22

    The purpose of this work was to quantify the effects of joystick stiffness and movement speed on the dynamic torque characteristics of hydraulic-actuation joystick controls, as found in off-road vehicles, as one of the initial steps towards the development of a joystick design protocol. Using a previously developed mathematical model in which a hydraulic-actuation joystick is assumed to rotate about two axes where the rotation origin is a universal joint, the dynamic torque characteristics incurred by an operator were predicted. Utilizing a laboratory mock-up of an excavator cab environment, three actuation torque characteristics (peak torque, angular impulse and deceleration at the hard endpoint) were quantified for nine unskilled joystick operators during the use of a commonly used North American hydraulic-actuation joystick. The six different experimental conditions included combinations of three joystick stiffnesses and two movement speeds. The highest instantaneous input torque over the course of the joystick movement (not including the hard endpoint) was evaluated using the peak torque value. Angular impulse provided an indication of the sustained exposure to force. The third indicator, deceleration at the hard endpoint, was included to provide a description of impact loading on the hand as the joystick came to a sudden stop. The most important result of this work is that the dynamic torque characteristics incurred during hydraulic-actuation joystick use are substantial. While the peak torque values were not very different between the fast and slow motion conditions, the high decelerations even for slow movements observed at maximum excursion of the joystick indicate that the dynamics do matter. On the basis of deceleration at the hard endpoint and peak torque, the joystick movements that require the highest values for a combination of torque variables are the side-to-side ones. This suggests that less stiff balance and return springs should be considered for

  7. An experimental study of the dual-loop control of electro-hydraulic load simulator (EHLS)

    Institute of Scientific and Technical Information of China (English)

    Wang Chengwen; Jiao Zongxia; Wu Shuai; Shang Yaoxing

    2013-01-01

    This paper investigates motion coupling disturbance (the so called surplus torque) in the hardware-in-the-loop (HIL) experiments. The‘‘velocity synchronization scheme’’ was proposed by Jiao for an electro-hydraulic load simulator (EHLS) in 2004. In some situations, however, the scheme is limited in the implementation for certain reasons, as is the case when the actuator’s valve signal is not available or it is seriously polluted by noise. To solve these problems, a ‘‘dual-loop scheme’’ is developed for EHLS. The dual-loop scheme is a combination of a torque loop and a position synchronization loop. The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system. To verify the feasibility and effectiveness of the proposed scheme, extensive simulations are performed using AMESim. Then, the performance of the developed method is validated by experiments.

  8. A Water Hammer Protection Method for Mine Drainage System Based on Velocity Adjustment of Hydraulic Control Valve

    Directory of Open Access Journals (Sweden)

    Yanfei Kou

    2016-01-01

    Full Text Available 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 model of water hammer fluctuations is established based on the characteristic line method. Then, boundary conditions of water hammer controlling for mine drainage system are determined and its simplex model is established. The optimization adjustment strategy is solved from the mathematic model of multistage valve-closing. Taking a mine drainage system as an example, compared results between simulations and experiments show that the proposed method and the optimized valve-closing strategy are effective.

  9. Water uptake by growing cells: an assessment of the controlling roles of wall relaxation, solute uptake, and hydraulic conductance

    Science.gov (United States)

    Cosgrove, D. J.

    1993-01-01

    Growing plant cells increase in volume principally by water uptake into the vacuole. There are only three general mechanisms by which a cell can modulate the process of water uptake: (a) by relaxing wall stress to reduce cell turgor pressure (thereby reducing cell water potential), (b) by modifying the solute content of the cell or its surroundings (likewise affecting water potential), and (c) by changing the hydraulic conductance of the water uptake pathway (this works only for cells remote from water potential equilibrium). Recent studies supporting each of these potential mechanisms are reviewed and critically assessed. The importance of solute uptake and hydraulic conductance is advocated by some recent studies, but the evidence is indirect and conclusions remain controversial. For most growing plant cells with substantial turgor pressure, it appears that reduction in cell turgor pressure, as a consequence of wall relaxation, serves as the major initiator and control point for plant cell enlargement. Two views of wall relaxation as a viscoelastic or a chemorheological process are compared and distinguished.

  10. Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design

    Institute of Scientific and Technical Information of China (English)

    Wei WANG; Hua-yong YANG; Jun ZOU; Xiao-dong RUAN; Xin FU

    2009-01-01

    We proposed an optimal design method to expand the bandwidth for the control of large hydraulic Stewart platform. The method is based on generalized natural frequency and takes hydraulic oil into consideration. A Lagrangian formulation which considers the whole leg inertia is presented to obtain the accurate equivalent mass matrix. Using the model, the effect of leg inertia and the influence of design parameters on the generalized natural frequency are investigated. Finally, numerical examples are presented to validate and confirm the efficiency of the mathematical model. The results show that the leg inertia, especially the piston part plays an important role in the dynamics. The optimum diameter ratio of the base to the moving platform is between 2 and 3, and the optimum joint angle ratio of the base to the moving platform is about 1. The smaller joint angles and a longer leg stroke are favorable for raising system frequencies. The system oil should be preprocessed for large platforms with a requirement for good dynamic performance.

  11. PLC程序控制研配液压机的结构设计%Structure Design of Bedding-in Hydraulic Press Controlled by PLC Program

    Institute of Scientific and Technical Information of China (English)

    刘泽民; 付丽; 敖茜; 李慧

    2014-01-01

    The design scheme of bedding-in hydraulic press controlled by PLC was introduced. The bedding-in process,struc-ture,hydraulic system and PLC control process of the bedding-in hydraulic press were analyzed. The program significantly improves the control precision and production efficiency.%介绍了应用PLC技术的研配液压机的设计方案,对该机的研配过程、结构、液压系统和PLC控制过程进行了分析和说明。该方案的提出显著提高了控制精度和生产效率。

  12. Hydraulic Structures

    Data.gov (United States)

    Department of Homeland Security — This table is required whenever hydraulic structures are shown in the flood profile. It is also required if levees are shown on the FIRM, channels containing the...

  13. Hydraulic control system of in-zone controlled calender%分区可控压光机的液压控制系统

    Institute of Scientific and Technical Information of China (English)

    程敏

    2013-01-01

    The principle of hydraulic control system of in-zone controlled calender was introduced. The static pressure sliding bearings can reduce mechanical wear and tear, to decrease the energy consumption and improve the paper quality.%介绍了分区可控压光机的液压控制系统的原理,结合分区可控辊和液压加压控制,利用液压静压滑动轴承的原理,减小机械设备磨损,降低工厂能耗,提高纸的质量。

  14. 基于使用功能的双保险液压回路%New Model of Hydraulic Circuit Control of Double Insurance Based on Use Function

    Institute of Scientific and Technical Information of China (English)

    向思遇

    2014-01-01

    Taking the hydraulic control of the gas butterfly valve as an example and based on existing various defects and poten-tial risks of traditional hydraulic control loops,an optimized and innovative design combining three functions of continuous oil supply, standby of double insurance and automatic switch-over,was proposed. A new hydraulic circuit model with double insurance based on operational functions was built up. The functions,structural characteristics and working principles of this hydraulic circuit were ana-lyzed in order to solve the functional defects of traditional hydraulic control loops and avoid the potential accidents arising.%以煤气蝶阀的液压控制为例,针对传统液压回路所存在的各种隐患和缺陷,提出了持续给油供压、双保险备用和自动切换三大功能的有机统一,结合优化创新理念,构建一种基于使用功能的新型双保险液压回路模型,解析了该回路功能、结构特点和工作原理,解决了传统油路控制的功能缺陷和安全事故隐患。

  15. Experimental-based Modelling and Simulation of Water Hydraulic Mechatronics Test Facilities for Motion Control and Operation in Environmental Sensitive Applications` Areas

    DEFF Research Database (Denmark)

    Conrad, Finn; Pobedza, J.; Sobczyk, A.

    2003-01-01

    The paper presents experimental-based modelling, simulation, analysis and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. The contributions includes results from on-going research projects on fluid power and mechatronics based on tap water hydraulic...... proportional valves and servo actuators for motion control and power transmission undertaken in co-operation by Technical University, DTU and Cracow University of Technology, CUT. The results of this research co-operation include engineering design and test of simulation models compared with two mechatronic...

  16. The chemical identity of intervessel pit membranes in Acer challenges hydrogel control of xylem hydraulic conductivity

    Science.gov (United States)

    Klepsch, Matthias M.; Schmitt, Marco; Paul Knox, J.; Jansen, Steven

    2016-01-01

    Ion-mediated enhancement of the hydraulic conductivity of xylem tissue (i.e. the ionic effect) has been reported for various angiosperm species. One explanation of the ionic effect is that it is caused by the swelling and shrinking of intervessel pit membranes due to the presence of pectins and/or other cell-wall matrix polymers such as heteroxylans or arabinogalactan–proteins (AGPs) that may contain acidic sugars. Here, we examined the ionic effect for six Acer species and their pit membrane chemistry using immunocytochemistry, including antibodies against glycoproteins. Moreover, anatomical features related to the bordered pit morphology and vessel dimensions were investigated using light and electron microscopy. The ionic effect varied from 18 % (± 9) to 32 % (± 13). Epitopes of homogalacturonan (LM18) and xylan (LM11) were not detected in intervessel pit membranes. Negative results were also obtained for glycoproteins (extensin: LM1, JIM20; AGP glycan: LM2), although AGP (JIM13)-related epitopes were detected in parenchyma cells. The mean vessel length was significantly correlated with the magnitude of the ionic effect, unlike other pit or vessel-related characteristics. Our results suggest that intervessel pit membranes of Acer are unlikely to contain pectic or other acidic polysaccharides. Therefore, alternative explanations should be tested to clarify the ionic effect. PMID:27354661

  17. Evaluation of a dynamic armrest for hydraulic-actuation controller use.

    Science.gov (United States)

    Murphy, T; Oliver, M L

    2011-07-01

    The efficacy of a newly designed dynamic armrest was evaluated during joystick operation of a typical North American hydraulic-actuation joystick. The dynamic design was evaluated against a stationary armrest condition as well as no armrest condition. Electromyography (EMG) and subjective measurements were used to make the evaluation. The dynamic armrest, which mimics the natural pendulation of a joystick operator's arm in the forward and backward directions, was shown to significantly decrease the muscular activation in the upper trapezius, posterior deltoid, and anterior deltoid (p ≤ 0.01) over a stationary armrest. A questionnaire revealed that subjects significantly (p = 0.01) preferred the dynamic armrest design over either a standard armrest or no armrest with 17 of 21 operators preferring the dynamic armrest. Ratings from the questionnaire indicated that subjects felt that the dynamic armrest required less effort, was more comfortable, and was more effective than either of the other two armrest conditions. Crown Copyright © 2010. Published by Elsevier Ltd. All rights reserved.

  18. Discussion on Methods of Proportional Pressure Control in Hydraulic System of Hydraulic Press%液压机液压系统比例压力控制方法探讨

    Institute of Scientific and Technical Information of China (English)

    李贵闪; 翟华

    2011-01-01

    Three methods of proportional pressure control on hydraulic presses were introduced and compared, which were open-loop control, closed-loop control based on PID and PID control with addition of initial signals. Results of comparison showe that the closed-loop control algorithm which is added with initial signals has many advantages such as simple control structure, easy debugging operations, stable system and high precision, and etc. The requirements of this hydraulic press on pressure control can be fully satisfied.%介绍了液压机比例压力控制的3种方法,即开环控制、基于PID的闭环控制、加入初始信号的PID控制.并对3种控制方法进行了比较.结果表明:采取的加入初始信号的闭环控制算法具有控制结构简单、调试方便、系统稳定、精度高等优点,完全满足该液压机对压力控制的要求.

  19. Theoretical Analysis and Bench Tests of a Control-Surface Booster Employing a Variable Displacement Hydraulic Pump

    Science.gov (United States)

    Mathews, Charles W.; Kleckner, Harold F.

    1947-01-01

    The NACA is conducting a general investigation of servo-mechanisms for use in powering aircraft control surfaces. This paper presents a theoretical analysis and the results of bench tests of a control-booster system which employs a variable displacement hydraulic pump. The booster is intended for use in a flight investigation to determine the effects of various booster parameters on the handling qualities of airplanes. Such a flight investigation would aid in formulating specific requirements concerning the design of control boosters in general. Results of the theoretical analysis and the bench tests indicate that the subject booster is representative of types which show promise of satisfactory performance. The bench tests showed that the following desirable features were inherent in this booster system: (1) No lost motion or play in any part of the system; (2) no detectable lag between motion of the contra1 stick and control surface; and (3) Good agreement between control displacements and stick-force variations with no hysteresis in the stick-force characteristics. The final design configuration of this booster system showed no tendency to oscillate, overshoot, or have other undesirable transient characteristics common to boosters.

  20. Noise control for rapid transit cars on elevated structures

    Science.gov (United States)

    Hanson, C. E.

    1983-03-01

    Noise control treatments for the propulsion motor noise of rapid transit cars on concrete elevated structures and the noise reduction from barrier walls were investigated by using acoustical scale models and supplemented by field measurements of noise from trains operated by the Port Authority Transportation Corporation (PATCO) in New Jersey. The results show that vehicle skirts and undercar sound absorption can provide substantial cost-effective reductions in propulsion noise at the wayside of transit systems with concrete elevated guideways. The acoustical scale model noise reductions applied to PATCO vehicles on concrete elevated structures show reductions in the A-weighted noise levels of 5 dB for undercar sound absorption, 5 dB for vehicle skirts, and 10 dB for combined undercar absorption and vehicle skirts. Acoustical scale model results for sound barrier walls lined with absorptive treatment showed reductions from 7 dB to 12 dB of noise from vehicles in the far track, depending on the height of the wall, and reductions from 12 dB to 20 dB of noise from vehicles on the near track. Transit vehicles at high speeds where propulsion system noise dominates are 7 dB(A) noisier at 50 ft on concrete elevated structures than on at-grade on tie and ballast. Of this amount, 3 dB is due to loss of ground effect, and 4 dB is due to the absence of undercar absorption provided by ballast.

  1. 基于PLC的多层液压电梯控制系统设计%Design of Multi-layer Hydraulic Elevator Control System Based on PLC

    Institute of Scientific and Technical Information of China (English)

    刘忠; 陈佳; 邹宇

    2014-01-01

    According to the hydraulic elevator speed control system, this paper puts forward the principle of hy-draulic elevator speed control system based on Siemens S7-200PLC controller, hardware configuration and con-trol method. Based on the special requirement of hydraulic elevator, the paper designs a complete electrical prin-ciple and wiring diagram, and provides a new design idea for the hydraulic elevator control system.%针对液压电梯调速系统的要求,基于西门子S7-200PLC控制器,提出了液压电梯速度控制系统的原理、硬件配置及控制方法。结合液压电梯的特殊要求,设计了完整的电气原理以及接线方式图,为液压电梯控制系统提供了一种新的设计思路。

  2. A Feed-forward Geometrical Compensation and Adaptive Feedback Control Algorithm for Hydraulic Robot Manipulators

    DEFF Research Database (Denmark)

    Conrad, Finn; Zhou, Jianjun; Gabacik, Andrzej;

    1998-01-01

    Invited paper presents a new control algorithm based on feed-forward geometrical compensation strategy combined with adaptive feedback control.......Invited paper presents a new control algorithm based on feed-forward geometrical compensation strategy combined with adaptive feedback control....

  3. 液控单向阀在锁紧回路中的控制特性研究%Study on Control Characteristics of Hydraulic Control One-way Valve in Locking Circuit

    Institute of Scientific and Technical Information of China (English)

    苏沛群; 邓志辉; 张西良

    2014-01-01

    Aiming at the different installation positions of hydraulic control one-way valve in hydraulic locking circuit,based on the analysis to the opening necessary conditions and the opening control pressure under different working conditions of hydraulic control one-way valve,the idea was put forward that opening pressure of hydraulic control one-way valve was maximum when the hydraulic oil went into the chamber without rod,backed to the chamber with rod and the hydraulic cylinder subjected to reversed load. The relation between control pressure and the load of the hydraulic cylinder,the relation between structure parameters M of hydraulic control valve, the speed ratioφof hydraulic cylinder and oil resistanceΔp were described. Speed ratioφof the hydraulic cylinder is bigger,the open-ing pressure is greater;the structure parameter M of the hydraulic control one-way valve is larger,the opening pressure is smaller.%针对液控单向阀在液压锁紧回路中的不同安装位置,在分析不同工况下液控单向阀开启的必要条件和开启工作时的控制压力的基础上,提出液压缸无杆腔进油、有杆腔回油且液压缸承受反向负载时液控单向阀开启压力最大的理念,阐述了控制压力与液压缸的负载、液控单向阀的结构参数M、液压缸的速比φ和回油阻力Δp的关系,从而得出液压缸的速比φ越大、开启压力越大,液控单向阀的结构参数M越大、开启压力越小的结论。

  4. A Novel Control Approach Based on Second Order Sliding Modes & Its Application to Hydraulic Drives

    DEFF Research Database (Denmark)

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

    2013-01-01

    Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator dynamics...... accuracy to be reached. In this paper a novel control approach based on second order sliding modes utilizing the idea of the power rate reaching law is introduced. Dependent on parameters the proposed controller may preserve the main features of sliding controls, while at the same time avoiding control....... This may be avoided by application of smoothing functions imposing boundary layers on the control constraint, or by carrying out the design in relation to the control derivative. However, such boundary layers introduces additional design parameters and actuator dynamics may not allow the desired control...

  5. Method for reducing excess heat supply experienced in typical Chinese district heating systems by achieving hydraulic balance and improving indoor air temperature control at the building level

    DEFF Research Database (Denmark)

    Zhang, Lipeng; Gudmundsson, Oddgeir; Thorsen, Jan Eric;

    2016-01-01

    that once the hydraulic balance is achieved and indoor temperatures are controlled with this integrated approach, 17% heat savings and 42.8% pump electricity savings can be achieved. The energy savings will also have a positive environmental effect with seasonal reductions of 11 kg CO2, 0.1 kg SO2, and 0...... with the actual heat demand. This results in 15-30% of the total supplied heat being lost. This paper proposes an integrated approach that aims to reduce the excess heat loss by introducing pre-set thermostatic radiator valves combined with automatic balancing valves. Those devices establish hydraulic balance...

  6. ECO-HYDRAULICS TECHNIQUES FOR CONTROLLING EUTROPHICATION OF SMALL SCENERY LAKES-A CASE STUDY OF LUDAO LAKE IN SHANGHAI

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The Ludao Lake with an area of 0.86 km2 and 50% water surface ratio, was taken as an example to study the eco-hydraulics techniques for preventing lake eutrophication. Besides external water inflow and outflow, the term related to internal local flow circulation was added in the continuity equation of two-dimensional horizontal hydrodynamic model, and further the hydrodynamic model was calibrated by the scenario of no water exchange. The velocity of 0.2 m/s was suggested to be the critical velocity of controlling algal bloom. To achieve the critical velocity in the whole lake, three factors were analyzed, which are wind, artificial external inflow augmentation and internal local flow disturbance by pump circulation. It is found that the role of wind can be disregarded. For the eco-hydraulics technique of external lake water inflow augmentation, the water flowing route should be firstly optimized, further, the lake inflow has a critical value under specified water level due to the narrow inlets, so the whole lake is difficult to reach the critical velocity to prevent algal bloom, and a combination of external inflow augmentation and internal local flowing disturbance should be considered. Simulation results show that the combination of external water inflow augmentation and internal local flow disturbance requires less eco-flow to achieve the global critical velocity than the sole internal local flow disturbance, for the Ludao Lake, the former requires total eco-flow of 25 m3/s, which reduces by 50% than the latter requiring total eco-flow of 52 m3/s.

  7. Transputers in Fluid Power - Design and Applications. Chapter 5 in Advances in Hydraulic Control Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    Deals with results and trends on mechatronics in fluid power and intelligent control of machines and robots. New results are presented concerning transputer-basen distributed control of machines and robots. Experimental results with the DTU mechatronic test facility are presented and discussed. S....... Several adaptive control algoritms are investigated and evaluated. Promissing results are obtained with Computed Valve-Input Control (CIC), Adaptive Model-based Actuator Control (AMAC) and Linear Pertubation Adaptive Control (LPAC).......Deals with results and trends on mechatronics in fluid power and intelligent control of machines and robots. New results are presented concerning transputer-basen distributed control of machines and robots. Experimental results with the DTU mechatronic test facility are presented and discussed...

  8. Wind tunnel experiments to prove a hydraulic passive rotor speed control concept for variable speed wind turbines (poster)

    NARCIS (Netherlands)

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

    2012-01-01

    As alternative to geared and direct drive solutions, fluid power drive trains are being developed by several institutions around the world. The common configuration is where the wind turbine rotor is coupled to a hydraulic pump. The pump is connected through a high pressure line to a hydraulic motor

  9. Design of active disturbance rejection controller for the hydraulic APC system of the rolling mill

    Science.gov (United States)

    Zhang, Ruicheng; Chen, Zhikun

    2011-10-01

    Considering uncertain external disturbance, the model of automatic position control system is established. Then, according to the information of input and output, using extended states observer (ESO), a newer observer is proposed to observe and compensate this integrated disturbance, and a controller is designed based on active disturbance rejection control (ADRC). This controller has very strong robustness not only to external disturbance, but also to unpredictable plant parameter variations.

  10. Designing an Electro-Hydraulic Control Module for an Open-Circuit Variable Displacement Pump

    DEFF Research Database (Denmark)

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

    2005-01-01

    , in the form of an electric control signal, under varying working conditions, when having access to engine speed and actual pump pressure. The paper presents a model of both the pump and the control module, along with design considerations on which linear controllers are developed for a worst point...

  11. A Frequency Response Approach to Sliding Control Design for Hydraulic Drives

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Johansen, Per; Andersen, Torben Ole

    2014-01-01

    Sliding modes applied in control structures may generally provide for perfect control performance and robustness toward uncertain bounded parameters and disturbances, in the ideal case with infinite actuator bandwidth and switching frequency. However, in the context of physical systems......, such performance cannot be realized due to finite actuator bandwidths and switching frequencies, which, in the case of direct application of sliding control terms, may lead to control chattering and high frequency oscillations in the system states. In order to compensate for this undesirable effect......, the application of so-called boundary layers are commonly applied, guaranteeing sliding precision in some well-defined vicinity of the control target. Commonly the control target, or sliding manifold, is designed as some desired closed loop dynamics of the controlled plant, utilizing multiple states as feedback...

  12. Finite element analysis of 80 MN inclined double-column rapid forging hydraulic press%80MN双柱斜置式快速锻造液压机有限元分析

    Institute of Scientific and Technical Information of China (English)

    闫红红; 李永堂; 刘兴; 张亦工

    2013-01-01

    以我国第1台最大吨位80 MN双柱式快速锻造液压机为研究对象,应用Pro/E三维建模软件和ANSYS有限元分析软件相结合的方式建立有限元模型,采用接触法处理液压机各部分连接关系,分析了双柱斜置式多拉杆全预紧结构;对偏载镦粗工况下的受力状态进行了整机数值模拟,通过对计算结果分析,得到液压机的受力特点和变形规律,为液压机结构设计和优化提供依据.%The first largest tonnage 80 MN double-column rapid forging hydraulic press in China was studied. The finite element model was established with the combination of Pro/E 3D modeling software and the ANSYS finite element analysis software. The connection relationship of each part of the hydraulic press was handled through the contact method. The multi-rod whole pretension structure of inclined double-column was analyzed. The stress state of eccentric load upsetting condition was numerical simulated. Through the analysis of calculation results, the stress state and deformation law of hydraulic press is received. It provides a basis for the structural design and optimization of hydraulic press.

  13. Improvement of Hydraulic Edge Position Control System by Proportion Sliding Mode of Self-tuning Switching Gain

    Directory of Open Access Journals (Sweden)

    Jin Baoquan

    2012-11-01

    Full Text Available Aiming at the problem of tracking performance degradation of hydraulic EPC system caused by time-varying inertia parameters, nonlinear and external disturbances, the proportion sliding mode control of fuzzy self-tuning gain was proposed. The EPC system state space model on deviation parameters was established and the main feedback sliding mode switching algorithm was designed. The fuzzy method was used to dynamically adjust the proportion sliding mode switching gain by product of the switching function and its derivative state and to adaptive compensate for the uncertainty of the system. At the same time to ensure the effectiveness of the design strategy, the controller model and physical model worked together to simulate the actual conditions. The fixed switching gain switch was, respectively greater and smaller and compared with the fuzzy self-tuning gain, in which the latter achieves a fast and coordinated control of chattering. The results show that after comprehensive consideration all interference the system is stable, fast response, high accuracy and to solve chattering problem caused by the traditional large switching gain of proportion sliding mode.

  14. Numerical Simulation of Hydraulic Control System for Marine Butterfly Valve%船用蝶阀液压控制系统的数值仿真

    Institute of Scientific and Technical Information of China (English)

    刘辉; 戈亮; 严军

    2012-01-01

    液控蝶阀以其启闭扭矩大、压力损失小和适合用于大中口径管道等特点,在船舶领域得到了广泛应用.基于船舶中某一常用规格的中线对称阀瓣的液控蝶阀,建立该液控蝶阀在实际工况下启闭控制液压系统的数学模型,并进行数值仿真和试验研究.仿真及试验结果表明:液控蝶阀启闭时的转动角速度及其误差受蓄能器排油量、管路压力损失、液压介质的温度以及液控蝶阀的负载影响较大.这一仿真分析及试验结果可为蝶阀液压控制系统中蓄能器总容量和管路通径的选择、液控蝶阀结构型式和规格的确定及其所输送流体运动参数的设计提供依据.%Hydraulic control butterfly valve is widely used in marine area due to the following features: high torque, low pressure loss and be suitable for medium and large diameter pipeline, etc. In this paper, hydraulic control butterfly valve adopted common centerline symmetry flap, and mathematical model of the switch control hydraulic system for hydraulic control butterfly valve was established. Numerical simulation and experiment results show that; row oil of the accumulator, pipeline pressure loss, temperature of hydraulic medium and the load have great impact on the rotational angular velocity and its error when the hydraulic control valve is opening and closing. The results can be applied to selection of the total capacity of accumulator and pipeline path, and to determination of structure type and specifications for hydraulic control butterfly valve and design of the motion parameters for the fluid transported by the system.

  15. Toward Model-Based Control of Non-linear Hydraulic Networks

    DEFF Research Database (Denmark)

    Tahavori, Maryamsadat; Jensen, Tom Nørgaard; Kallesøe, Carsten

    2013-01-01

    consumption. To have a better understanding of leakage in WSSs, to control pressure and leakage effectively, and for optimal design of WSSs, suitable modeling is an important prerequisite. In this paper a model with the main objective of pressure control and consequently leakage reduction is presented...

  16. A Generic Model Based Tracking Controller for Hydraulic Valve-Cylinder Drives

    DEFF Research Database (Denmark)

    Hansen, Anders Hedegaard; Schmidt, Lasse; Pedersen, Henrik Clemmensen

    2016-01-01

    , and are therefore constrained to utilize only measurements of the piston position, the valve spool position, the transmission line pressures and the supply pressure, as feedbacks. The control structures are generally targeting a high bandwidth of the controlled cylinder drive and accurate tracking ability...

  17. Hydraulics and pneumatics

    CERN Document Server

    Parr, Andrew

    2006-01-01

    Nearly all industrial processes require objects to be moved, manipulated or subjected to some sort of force. This is frequently accomplished by means of electrical equipment (such as motors or solenoids), or via devices driven by air (pneumatics) or liquids (hydraulics).This book has been written by a process control engineer as a guide to the operation of hydraulic and pneumatic systems for all engineers and technicians who wish to have an insight into the components and operation of such a system.This second edition has been fully updated to include all recent developments su

  18. Mathematical model of electric hydraulic and powered support control system at a plough mining face

    Institute of Scientific and Technical Information of China (English)

    ZHANG Wei; HAN Xiao; SUN Jing-jing

    2008-01-01

    Given the actual working of a fully mechanized plough at a mining face, we have proposed a formula for running con-straints between powered supports and a coal plough under assumed geological conditions of the coal face and, on this basis, estab-lished an automatic control model of powered supports for the coal plough face. We introduced the working principle of the pow-ered support control system of the plough at the mining face. We established three advanced characteristics of this control system: response speed, reliability and easy maintenance of the system. As well, we briefly introduced, the principal function of primary and subordinate controllers and the realization of the communication system by a Single Bus. Ten controllers were constructed and tested in our laboratorium. The results show that the control model is practical and meets actual conditions. It provides a theoretical basis for designing a computer control system for a powered support system of a plough at a mining face.

  19. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

    Madsen, Henrik; Zhou, Jianjun; Hansen, Lars Henrik

    1997-01-01

    This paper describes a case study of identifying the physical model (or the grey box model) of a hydraulic test robot. The obtained model is intended to provide a basis for model-based control of the robot. The physical model is formulated in continuous time and is derived by application...

  20. Water Hydraulic Systems

    DEFF Research Database (Denmark)

    Conrad, Finn

    2005-01-01

    The paper presents research results using IT-Tools for CAD and dynamic modelling, simulation, analysis, and design of water hydraulic actuators for motion control of machines, lifts, cranes and robots. Matlab/Simulink and CATIA are used as IT-Tools. The contributions include results from on-going...

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

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben

    2003-01-01

    integration of an overall design and manufacturing IT- concept feasible and commercially attractive. An IT-tool concept for modelling, simulation and design of mechatronic products and systems is proposed in this paper. It built on results from a Danish mechatronic research program on intelligent motion...... controller utilizes the dSPACE System suitable for real-time experimentation, evaluation and validation of control laws and algorithms....

  2. Weed control methods effect on the hydraulic attributes of a Latosol

    Directory of Open Access Journals (Sweden)

    Luiz Fernando Pires

    2017-01-01

    Full Text Available Weed management plays a key role in the minimization of soil physical degradation processes such as compaction and hydric erosion. Different weed control managements can induce distinct changes in soil structure. One important soil physical attribute used for the analysis of modifications in soil structure is the soil water retention curve (SWRC. The objective of this work was to verify the use of physico-hydrical attributes to understand the effect of weed control managements on soil structure. Two soil layers (0–0.05 and 0.10–0.15 m and six weed control managements divided into two groups were analyzed: I. no soil disturbance and ground cover (no weed control, post-emergence herbicide, mechanical mower; and II. soil disturbance and no ground cover (hand-hoe weeding, rotary tiller, pre-emergence herbicide. An area of native forest was used as reference. The results showed that the volumetric water capacity derived from the SWRC can be an interesting tool to evaluate the impact of weed control managements on soil structure. Evaluations of the air-filled porosity variation for different pressure heads also presented interesting findings. Distinct results of the weed control managements were found for the different depths analyzed in relation to the forest.

  3. A Distributed Control System for Rapid Astronomical Transient Detection

    CERN Document Server

    Wren, J; Brumby, S; Casperson, D E; Galassi, M; McGowan, K; Starr, D; Vestrand, W T; White, R; Wozniak, P R

    2002-01-01

    The Rapid Telescope for Optical Response (RAPTOR) program consists of a network of robotic telescopes dedicated to the search for fast optical transients. The pilot project is composed of three observatories separated by approximately 38 kilometers located near Los Alamos, New Mexico. Each of these observatories is composed of a telescope, mount, enclosure, and weather station, all operating robotically to perform individual or coordinated transient searches. The telescopes employ rapidly slewing mounts capable of slewing a 250 pound load 180 degrees in under 2 seconds with arcsecond precision. Each telescope consists of wide-field cameras for transient detection and a narrow-field camera with greater resolution and sensitivity. The telescopes work together by employing a closed-loop system for transient detection and follow-up. Using the combined data from simultaneous observations, transient alerts are generated and distributed via the Internet. Each RAPTOR telescope also has the capability of rapidly respo...

  4. Synchronous control for the hydraulic width system of edger rolling mill

    Science.gov (United States)

    Ning, Shurong; Fan, Zhuoyu

    2008-10-01

    Edger rolling mill is a load system in which the upper and the lower cylinder actuate a side vertical roller at the same time. Due to the linkage of the load, the output and control of two channels influence each other. Synchronic-control issue is discussed aim to the system with serious coupling. Neural network inverse as decoupling controller is proposed to account for the complicated process dynamics characterized by nonlinear, time-varying, uncertain and load couple properties. Firstly, the reversibility of the system is analyzed and the ANN inverse dynamic is constructed based on a feed forward and neural network structure with enlarged back propagation algorithm. Secondly, the system is changed into two pseudo-linear sub-system through connecting the controlled system and inverse dynamic model in series. Aim to two pseudo-linear sub-system pole assignments method is proposed to enhance the whole system performance. A series simulation was conducted and results showed the proposed controller does better than traditional PID not only on decoupling but also on the transient response, as well as robustness under vary conditions.

  5. Toward Model-Based Control of Non-linear Hydraulic Networks

    DEFF Research Database (Denmark)

    Tahavori, Maryamsadat; Jensen, Tom Nørgaard; Kallesøe, Carsten;

    2013-01-01

    consumption. To have a better understanding of leakage in WSSs, to control pressure and leakage effectively, and for optimal design of WSSs, suitable modeling is an important prerequisite. In this paper a model with the main objective of pressure control and consequently leakage reduction is presented......Water leakage is an important component of water loss. Many methods have emerged from urban water supply systems (WSSs) 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....... Following an analogy to electric circuits, first the mathematical expression for pressure drop over each component of the pipe network (WSS) such as pipes, pumps, valves and water towers is presented. Then the network model is derived based on the circuit theory and subsequently used for pressure management...

  6. Research on a Nonlinear Robust Adaptive Control Method of the Elbow Joint of a Seven-Function Hydraulic Manipulator Based on Double-Screw-Pair Transmission

    Directory of Open Access Journals (Sweden)

    Gaosheng Luo

    2014-01-01

    Full Text Available A robust adaptive control method with full-state feedback is proposed based on the fact that the elbow joint of a seven-function hydraulic manipulator with double-screw-pair transmission features the following control characteristics: a strongly nonlinear hydraulic system, parameter uncertainties susceptible to temperature and pressure changes of the external environment, and unknown outer disturbances. Combined with the design method of the back-stepping controller, the asymptotic stability of the control system in the presence of disturbances from uncertain systematic parameters and unknown external disturbances was demonstrated using Lyapunov stability theory. Based on the elbow joint of the seven-function master-slave hydraulic manipulator for the 4500 m Deep-Sea Working System as the research subject, a comparative study was conducted using the control method presented in this paper for unknown external disturbances. Simulations and experiments of different unknown outer disturbances showed that (1 the proposed controller could robustly track the desired reference trajectory with satisfactory dynamic performance and steady accuracy and that (2 the modified parameter adaptive laws could also guarantee that the estimated parameters are bounded.

  7. Rapid Acquisition of Army Command and Control Systems

    Science.gov (United States)

    2014-01-01

    requirements documents, and sustainment structures of existing programs to choreograph rapid initiation of a concept and ensure its fielding and...manner of choreographing the transition to the Army from DARPA. The establishment of CDRT in 2004 indicated that senior leaders in the Army were aware of

  8. Hydraulic conductivity of active layer soils in the McMurdo Dry Valleys, Antarctica: Geological legacy controls modern hillslope connectivity

    Science.gov (United States)

    Schmidt, Logan M.; Levy, Joseph S.

    2017-04-01

    Spatial variability in the hydraulic and physical properties of active layer soils influences shallow groundwater flow through cold-desert hydrological systems. This study measures the saturated hydraulic conductivity and grain-size distribution of 90 soil samples from the McMurdo Dry Valleys (MDV), Antarctica-primarily from Taylor Valley-to determine what processes affect the spatial distribution of saturated hydraulic conductivity in a simple, mineral-soil-dominated natural hillslope laboratory. We find that the saturated hydraulic conductivity and the grain-size distribution of soils are organized longitudinally within Taylor Valley. Soils sampled down-valley near the coast have a higher percentage of fine-sized sediments (fine sand, silt, clay) and lower saturated hydraulic conductivities than soils collected up-valley near Taylor Glacier (1.3 × 10- 2 vs. 1.2 × 10- 1 cm/s). Soils collected mid-valley have intermediate amounts of fines and saturated hydraulic conductivity values consistent with a hydrogeologic gradient spanning the valley from high inland to low near the coast. These results suggest the organization of modern soil properties within Taylor Valley is a relict signature from past glaciations that have deposited soils of decreasing age toward the mouth of the valley, modified by fluvial activity acting along temporal and microclimate gradients.

  9. Environmental restoration: Integrating hydraulic control of groundwater, innovative contaminant removal technologies and wetlands restoration--A case study at SRS

    Energy Technology Data Exchange (ETDEWEB)

    Lewis, C.M.; Serkiz, S.M.; Adams, J.; Welty, M. (Westinghouse Savannah River Co., Aiken, SC (United States))

    1992-01-01

    The groundwater remediation program at the F and H Seepage Basins, Savannah River Sits (SRS) is a case study of the integration of various environmental restoration technologies at a single waste site. Hydraulic control measures are being designed to mitigate the discharge of groundwater plumes to surface water. One of the primary constituents of the plumes is tritium. An extraction and reinjection scenario is being designed to keep the tritium in circulation in the shallow groundwater, until it can naturally decay. This will be accomplished by extracting groundwater downgradient of the waste sites, treatment, and reinjection of the tritiated water into the water table upgradient of the basins. Innovative in-situ technologies, including electrolytic migration, are being field tested at the site to augment the pump-treat-reinject system. The in-situ technologies target removal of contaminants which are relatively immobile, yet represent long term risks to human health and the environment. Wetland restoration is an integral part of the F and H remediation program. Both in-situ treatment of the groundwater discharging the wetlands to adjust the pH, and replacement of water loss due to the groundwater extraction program ar being considered. Toxicity studies indicate that drought and the effects of low pH groundwater discharge have been factors in observed tree mortality in wetlands near the waste sites.

  10. Stability Verification for Energy-Aware Hydraulic Pressure Control via Simplicial Subdivision

    DEFF Research Database (Denmark)

    Sloth, Christoffer; Wisniewski, Rafael

    2015-01-01

    This paper presents a linear programming-based method for finding Lyapunov functions of dynamical systems with polynomial vector fields. We propose to utilize a certificate of positivity in the Bernstein basis based on subdivisioning to find a Lyapunov function. The subdivision-based method...... is proposed since it has better degree bounds than similar methods based on degree elevation. The proposed method is successfully applied to find a Lyapunov function for a pressure controlled water distribution system....

  11. 热连轧液压活套综合控制策略%Integrated control strategies of hydraulic loop for hot strip mill

    Institute of Scientific and Technical Information of China (English)

    庄野

    2014-01-01

    Under the background of the hydraulic loop system for the finishing mill in hot strip mill of Ansteel,the control principle and production process of hydraulic loop are analyzed in detail,moreover length of loop for hydraulic loop system and mathematical models of torque are derived. Furthermore, integrated control strategies and algorithms of hydraulic loop are put forward. Field application shows that the strategies and algorithms have strong adaptability,loop system is of stable operation,and hy-draulic loop has the advantages of low inertia and quick responses,which is laying a solid foundation for the realization of quality targets such as the thickness,shape and width.%以鞍钢集团某1700热连轧生产线精轧机组的液压活套系统为背景,对液压活套生产工艺过程和控制原理进行了详细分析,推导出液压活套套量及力矩数学模型,提出了液压活套综合控制策略和算法。实际应用表明该控制策略和算法具有较强的适应性,活套系统运行稳定,发挥了液压活套的惯性小、响应快等优点,为保证厚度、板形和宽度等质量指标的实现奠定了基础。

  12. Remotely Adjustable Hydraulic Pump

    Science.gov (United States)

    Kouns, H. H.; Gardner, L. D.

    1987-01-01

    Outlet pressure adjusted to match varying loads. Electrohydraulic servo has positioned sleeve in leftmost position, adjusting outlet pressure to maximum value. Sleeve in equilibrium position, with control land covering control port. For lowest pressure setting, sleeve shifted toward right by increased pressure on sleeve shoulder from servovalve. Pump used in aircraft and robots, where hydraulic actuators repeatedly turned on and off, changing pump load frequently and over wide range.

  13. Development and design of a dynamic armrest for hydraulic-actuation joystick controlled mobile machines.

    Science.gov (United States)

    Murphy, T; Oliver, M L

    2008-05-01

    Standard armrests used in conjunction with joysticks of heavy mobile machinery have been proven to inadequately meet operator needs, resulting in excessive static loading of shoulder musculature. During joystick operation, the trajectory of the user's forearm is governed by the motion of the controller, which creates horizontal and vertical movement of the forearm. The vertical motion of the forearm in the forward and backward motion create postures that stationary armrests cannot support thereby generating increased muscle activation and risk of repetitive strain injuries. The current paper describes the design process used in creating a dynamic armrest that replicates the operator's natural motion trajectories. By incorporating the natural motion paths into a dynamic armrest, the postural requirements and muscular activation of the operator's shoulder may be reduced.

  14. Linking hydropedology and ecosystem services: differential controls of surface field saturated hydraulic conductivity in a volcanic setting in central Mexico

    Directory of Open Access Journals (Sweden)

    A. Gómez-Tagle

    2009-03-01

    Full Text Available In this study the variation of field saturated soil hydraulic conductivity (Kfs as key control variable and descriptor of infiltration was examined by means of a constant head single ring infiltrometer. The study took place in five coverage types and land uses in a volcanic setting in central Mexico. The tested hypothesis was that there exist a positive relationship between plant cover and surface Kfs for the study area. The examined coverage types included; Second growth pine-oak forest, pasture land, fallow land, gully and Cupresus afforestation. Results indicate that Kfs did not depend exclusively of plant cover; it was related to surface horizontal expression of the unburied soil horizons and linked to land use history. Therefore the Kfs measured at a certain location did not depend exclusively of the actual land use, it was also influenced by soil bioturbation linked to plant succession patterns and land use management practices history. The hypothesis accounts partially the variation between sites. Kfs under dense plant cover at the Cupresus afforestation was statistically equal to that measured at the fallow land or the gully sites, while second growth pine-oak forest Kfs figures were over an order of magnitude higher than the rest of the coverage types. The results suggest the relevance of unburied soil horizons in the soil hydrologic response when present at the surface. Under these conditions loosing surface soil horizons due to erosion, not only fertility is lost, but environmental services generation potential. A conceptual model within the hydropedological approach is proposed. It explains the possible controls of Kfs, for this volcanic setting. Land use history driven erosion plays a decisive role in subsurface horizon presence at the surface and soil matrix characteristic determination, while plant succession patterns seem to be strongly linked to soil bioturbation and

  15. Fluid-loss control for high-permeability rocks in hydraulic fracturing under realistic shear conditions

    Energy Technology Data Exchange (ETDEWEB)

    Navarrete, R.C.; Mitchell, J.P.

    1995-12-31

    A study is presented on the effectiveness of different combinations of fluid and fluid-loss additives to control fluid loss in high-permeability formations under high shear rates. The impact on matrix damage and proppant-pack damage is also studied. Borate-crosslinked guars, hydroxyethylcellulose (HEC) and a surfactant water-base gravel packing fluid were investigated. The fluid-loss additive considered was silica flour. All fluid-loss tests were run in dynamic fluid-loss cells. To properly test high-permeability cores, new long core dynamic fluid-loss cells were used. The matrix damage caused by the invasion of the fluid was determined using pressure taps along the core. Conductivity tests were also run to determine the damage to the proppant pack. Results show that the effectiveness of particulate fluid-loss additives under dynamic conditions is strongly dependent on the initial leakoff rate, which depends on the pressure gradient across the core, permeability of the core and viscosity of the invading fluid. The use of silica flour helps matrix flowback, and it has a minimal effect on proppant-pack conductivity in clean fluids (e.g., surfactant water-base gravel packing fluid). With the exception of the borate-crosslinked guar with no fluid-loss additive, the variety of fluids used in these tests (with and without silica flour) have a negligible effect on postproduction.

  16. Hydraulic Motor Driving Variable-Pitch System for Wind Turbine

    Directory of Open Access Journals (Sweden)

    Ye HUANG

    2013-11-01

    Full Text Available The present hydraulic variable-pitch mechanism of wind turbine uses three hydraulic cylinders to drive three crank and connecting rod mechanisms respectively; the blades are moved with the cranks. The hydraulic variable-pitch mechanism has complex structure, occupies a lot of space and its maintenance is trouble. In order to make up for the shortcomings of hydraulic cylinder variable-pitch system, the present hydraulic variable-pitch mechanism should be changed as follows: hydraulic motors are used to drive gears; gears drive blades; the electro-hydraulic proportional valves are used to control hydraulic motors. The hydraulic control part and electrical control part of variable-pitch system is redesigned. The new variable-pitch system is called hydraulic motor driving variable-pitch system. The new variable-pitch system meets the control requirements of blade pitch, makes the structure simple and its application effect is perfect.    

  17. Application of Multi-cylinders Synchronization Hydraulic Servo Control in the Coil-Press%多缸同步液压伺服控制系统在线圈压床的应用

    Institute of Scientific and Technical Information of China (English)

    陈彪; 姜新生

    2011-01-01

    介绍了多缸同步液压伺服控制系统在线圈压床中的组成、控制原理,及在线圈压床中的实际应用效果.%The components of multi-cylinders synchronization hydraulic servo control in the coil-press and controlled theory of hydraulic servo control system were introduced. Its infect of actual used in the coil-press was presented.

  18. 3D Numerical Simulation versus Experimental Assessment of Pressure Pulsations Using a Passive Method for Swirling Flow Control in Conical Diffusers of Hydraulic Turbines

    Science.gov (United States)

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

    2016-11-01

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

  19. Motion Analysis and Control of a Single Leg of Hydraulically Actuated Quadruped Robots during Vertical Hopping%液压驱动四足机器人单腿竖直跳跃运动分析与控制

    Institute of Scientific and Technical Information of China (English)

    张雪峰; 秦现生; 冯华山; 谭小群; 李军; 杨雪宝

    2013-01-01

    针对非结构化环境下四足机器人高速高机动性要求,提出一种液压驱动单腿结构模式.面向竖直跳跃运动,建立液压驱动结构模式下单腿二阶段运动学模型和三阶段动力学模型;进行竖直跳跃运动状态分析、单腿整机质心以1.5 m/s速度瞬时起跳的竖直跳跃运动逆解和仿真;并对竖直跳跃运动过程中地面冲击对机体结构的影响、髋关节和膝关节液压缸动作特性和输出力特性及液压设计等进行讨论.同时,考虑单腿竖直跳跃的周期性,应用液压偏置单腿动力学模型,采用PD迭代学习控制算法进行关节轨迹跟踪控制.仿真结果表明轨迹跟踪迅速收敛且鲁棒性好,为后续样机研究提供设计和控制依据.%To address the requirements of high speed and mobility for quadruped robots under unstructured environments, a structure model of hydraulically actuated single leg is proposed. For vertical hopping, a two-phase kinematic model and a three-phase dynamic model of a single leg are established under the structure model. After that, the state analysis on the vertical hopping is conducted, and the inverse kinematics solution and the simulation of the hopping are also implemented for a single leg mass-center's instant vertical hopping with 1.5 m/s. Then, the ground impact on the body structure, the operation characteristics and the output force of the hip joint and knee joint's hydraulic cylinder, as well as the hydraulic system design during vertical hopping are discussed. Meanwhile, taking the periodicity of vertical hopping of a single leg into consideration, a PD (proportional-derivative) iterative learning control algorithm is applied to joint trajectory tracking, based on single leg's dynamic model with hydraulic offset. The simulation results indicate that rapid and robust convergence is achieved in trajectory tracking using the presented model, which offers the design and control references for the succeeding

  20. Temperature control of CMS Barrel ECAL (EB) : computational thermo-hydraulic model for dynamic behaviour, control aspects

    CERN Document Server

    Wertelaers, P

    2010-01-01

    The current design foresees a central heat exchanger followed by a controlled post heater, for all ECAL. We discuss the scheme and try to assess its performance, from a Barrel viewpoint. This is based on computational work. The coolant transfer pipes play an essential role in building a dynamical model. After some studies on the behaviour of the cooling circuit itself, a strong yet simple controller is proposed. Then, the system with feedback control is scrutinized, with emphasis on disturbance rejection. The most relevant disturbances are cooling ripple, pipe heat attack, and electronics’ switching.

  1. 金属带式CVT钢带轴向跑偏电液控制系统的仿真%Simulation of Electro- hydraulic Control System of Controling the Belt Axial - misalignment for Metal V- belt CVT

    Institute of Scientific and Technical Information of China (English)

    臧发业; 张玉波

    2009-01-01

    On the basis of the analysis of the belt misalignment of the metal V - belt CVT, the reason of the belt misalignment is discussed. In order to control the misalignment, an electro - hydraulic control system is designed. After analyzing the structure and principle of the electro - hydraulic control system, the mathematical model of the electrohydraulic control system is established. Being varieties of the working situation of car and the non - linearity of the electro - hydraulic control system, a fuzzy PID algorithm is adopted. Then the performance simulation of the electro - hydraulic control system is conducted. The simulation results showe that the electro - hydraulic control system and the fuzzy controller with parameter self adjustment could not only control ratio, which has a higher accuracy of the stable state and a stronger robust of the driving condition, but also eliminate the belt misalignment.%通过对金属带式无级变速器传动钢带轴向跑偏的分析,阐述了产生钢带中心线轴向偏移的原因,为控制传动钢带的轴向跑偏,设计了一种新型的电液伺服控制系统,阐述了其工作原理,建立了该系统的数学模型.由于系统具有非线性及工况运行的复杂性,采用模糊控制算法,然后对系统的控制性能进行仿真研究,仿真结果表明,所设计的电液伺服控制系统能实现对速比的跟踪控制,稳态精度较高,可消除金属带式CVT传动钢带的轴向跑偏.

  2. Hydraulic conductivity of organomodified soil

    Energy Technology Data Exchange (ETDEWEB)

    Wallace, R.B.; Grant, J.M.; Voice, T.C.; Rakhshandehroo, G.; Xu, S.; Boyd, S.A. [Michigan State Univ., East Lansing, MI (United States)

    1995-11-01

    The effects of organomodification on soil hydraulic conductivity were investigated. Hydraulic conductivity and porosity of treated and untreated samples of a sandy loam were measured as a function of effective stress. Batch treatment with hexadecyltrimethyl ammonium (HDTMA) and dry packing produced organomodified samples that were 79% less conducive than untreated samples prior to loading. Treated samples lost less hydraulic conductivity as a result of loading than untreated samples so that treated samples had higher conductivity at high loads. Observed differences in conductivity are explained in terms of the role of the treated and untreated clay in controlling initial effective pore size and its change during consolidation.

  3. Control of malaria: the rapid fever surveillance programme.

    Science.gov (United States)

    Premanath, M

    1997-11-01

    Eighty-five villages out of nearly 300 villages of Tiptur taluka covering a population of 47,271 where the incidence of Plasmodium falciparum (PF) malaria was very high, were selected for a programme during Aug 93 which lasted for 29 months until the end of Dec 95. Ten days of fever radical treatment (FRT) and 54 weekly and 29 fortnightly rapid fever surveillance (RFS) programmes were conducted. 64,142 blood smears were examined out of which 21,542 were positive for malaria and 14,291 were of PF type. There were 9858 PF cases during the last 5 months of 1993, which came down to 349 by the end of 1995. Fever morbidity which was nearly 1000 new cases per day during FRT came down to 120, 78, and 30 new cases per day during 1993, 1994 and 1995, respectively. Parasite index (PI) for PF Malaria was 140-321 during 1993, came down to 0.6-15 at the end of the study. Four rounds of DDT, two rounds of Ikon and one round of Delta-methrin were sprayed in four and two PHC areas, respectively during this period. Asymptomatic carriers for PF malaria were detected in the children under 14 years of age (3.1%). This programme did prove very effective in bringing down morbidity and mortality due to PF Malaria in the community.

  4. Single Neuron PID Control of Aircraft Deicing Fluids Rapid Heating System

    OpenAIRE

    2013-01-01

    Aircraft deicing fluids rapid heating system is widely used in aircraft ground deicing to ensure that the operation of flights can be safe and efficient. Aiming at the temperature turbulence problem of aircraft deicing system, this paper presents the single neuron PID control strategy which combine the advantage of conventional PID control with artificial neuron control. The aircraft deicing fluids rapid heating system and the scheme and working principle of the system is introduced. Simulati...

  5. Rapid control of mold temperature during injection molding process

    Energy Technology Data Exchange (ETDEWEB)

    Liparoti, Sara; Titomanlio, Giuseppe [Department of Industrial Engineering, University of Salerno Via Giovanni Paolo II, 132, 84084 Fisciano (Italy); Hunag, Tsang Min; Cakmak, Mukerrem [Department of Polymer Engineering, The University of Akron, Akron, OH 44325 (United States); Sorrentino, Andrea [Institute for Polymers, Composite and Biomaterials (IPCB) - CNR, P. Enrico Fermi 1, 80055 Portici (Italy)

    2015-05-22

    The control of mold surface temperature is an important factor that determines surface morphology and its dimension in thickness direction. It can also affect the frozen molecular orientation and the mold surface replicability in injection molded products. In this work, thin thermally active films were used to quickly control the mold surface temperature. In particular, an active high electrical conductivity carbon black loaded polyimide composites sandwiched between two insulating thin polymeric layers was used to condition the mold surface. By controlling the heating time, it was possible to control precisely the temporal variation of the mold temperature surface during the entire cycle. The surface heating rate was about 40°C/s and upon contact with the polymer the surface temperature decreased back to 40°C within about 5 s; the overall cycle time increased only slightly. The effect on cross section sample morphology of samples of iPP were analyzed and discussed on the basis of the recorded temperature evolution.

  6. Rapidly converging multichannel controllers for broadband noise and vibrations

    NARCIS (Netherlands)

    Berkhoff, A.P.

    2010-01-01

    Applications are given of a preconditioned adaptive algorithm for broadband multichannel active noise control. Based on state-space descriptions of the relevant transfer functions, the algorithm uses the inverse of the minimum-phase part of the secondary path in order to improve the speed of converg

  7. Hydraulic Actuators with Autonomous Hydraulic Supply for the Mainline Aircrafts

    Directory of Open Access Journals (Sweden)

    I. S. Shumilov

    2014-01-01

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

  8. 位置液压伺服机构数字控制策略研究%Digital Control Strategy for Position Hydraulic Servo Mechanism

    Institute of Scientific and Technical Information of China (English)

    陶国伟; 吴洪涛

    2012-01-01

    According to the digital control strategy of position hydraulic servo mechanism, which is taken as main equipment of friction torque in the field of aerospace, This paper puts forward a control strategy with fuzzy control principle. The strategy is considered as that of optimal segment in stage, i. e. one dimension fuzzy self-optimal control strategy. It also carries out the simulation and experiment. The result shows that the control strategy is effective to our position hydraulic servo mechanism. It is stable and reliable. Meanwhile, the stability of position hydraulic servo mechanism with one dimension fuzzy self-optimal control strategy is analyzed and discussed theoretically and the method in which the stability of the system is defined is brought forward.%针时以摩擦力矩为主的用于航天用途的位置液压伺服机构的数字控制策略,提出了一种按模糊控制原理对系统实施优化分段的控制策略,即一维模糊自寻控制策略,并进行了仿真和实物实验,实验的结果表明此种控制策略对位置液压伺服机构是有效、稳定和可靠的.同时对一维模糊自寻控制策略的位置液压伺服机构的稳定性问题从理论上进行了分析,提出了判别这种控制系统稳定性的方法.

  9. 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。

  10. An application generator for rapid prototyping of Ada real-time control software

    Science.gov (United States)

    Johnson, Jim; Biglari, Haik; Lehman, Larry

    1990-01-01

    The need to increase engineering productivity and decrease software life cycle costs in real-time system development establishes a motivation for a method of rapid prototyping. The design by iterative rapid prototyping technique is described. A tool which facilitates such a design methodology for the generation of embedded control software is described.

  11. 泵直接传动式锻造液压机计算机控制%Computer control of forging hydraulic press with pump-direct-drive

    Institute of Scientific and Technical Information of China (English)

    陈柏金; 钟绍辉; 靳龙; 黄树槐

    2001-01-01

    This paper introduces the principle of forging hydraulic pre ss with pump-direct-drive, and presents the architecture of field control networ k and the CNC system. The control method is also discussed in detail.%介绍了泵直接传动的锻造液压机工作原理,对其采用现场控制网络的体系结构和计算机控制系统进行了描述,并对其控制原理、控制策略进行了研究。

  12. 液压传动风力发电机的恒转速控制%Constant Speed Control of Hydraulic Transmission Wind Turbine

    Institute of Scientific and Technical Information of China (English)

    魏列江; 王栋梁; 胡晓敏

    2013-01-01

    Aiming at the shortcomings of the traditional wind turbine generator,such as large size,heavy weight,high failure rate and much cost for maintenance,a kind of technologies employing hydraulic drive for wind power generation was introduced.A plan that could fulfill this hydraulic drive for wind power generation as a whole was discussed as well as the operation principle.On basis of this,by using hydraulic drive control technology,the speed-governing program which turned un-steady rotating speed input from wind turbine into steady input from electric generator and realization method were described mainly.Among this technical program,a flexible hydraulic transmission was in substitution for a rigid mechanical one and reduced mechanical failure rate of the machine set.The costs of manufacturing and maintenance are lowered.%针对传统风力发电机体积和质量大,故障率及维护成本高的缺点,介绍了利用液压传动的风力发电技术.论述液压传动的风力发电的总体方案及工作原理,在此基础上,重点阐述了利用液压传动控制技术,将风机不稳定转速的输入变为稳定的发电机输入的调速方案和实现方法.在该技术方案中,用液压柔性传动代替了机械刚性传动,减少了机组的机械故障率,降低了制造和维护成本.

  13. Homeostasis in leaf water potentials on leeward and windward sides of desert shrub crowns: water loss control vs. high hydraulic efficiency.

    Science.gov (United States)

    Iogna, Patricia A; Bucci, Sandra J; Scholz, Fabián G; Goldstein, Guillermo

    2013-11-01

    Phenotypic plasticity in morphophysiological leaf traits in response to wind was studied in two dominant shrub species of the Patagonian steppe, used as model systems for understanding effects of high wind speed on leaf water relations and hydraulic properties of small woody plants. Morpho-anatomical traits, hydraulic conductance and conductivity and water relations in leaves of wind-exposed and protected crown sides were examined during the summer with nearly continuous high winds. Although exposed sides of the crowns were subjected to higher wind speeds and air saturation deficits than the protected sides, leaves throughout the crown had similar minimum leaf water potential (ΨL). The two species were able to maintain homeostasis in minimum ΨL using different physiological mechanisms. Berberis microphylla avoided a decrease in the minimum ΨL in the exposed side of the crown by reducing water loss by stomatal control, loss of cell turgor and low epidermal conductance. Colliguaja integerrima increased leaf water transport efficiency to maintain transpiration rates without increasing the driving force for water loss in the wind-exposed crown side. Leaf physiological changes within the crown help to prevent the decrease of minimum ΨL and thus contribute to the maintenance of homeostasis, assuring the hydraulic integrity of the plant under unfavorable conditions. The responses of leaf traits that contribute to mechanical resistance (leaf mass per area and thickness) differed from those of large physiological traits by exhibiting low phenotypic plasticity. The results of this study help us to understand the unique properties of shrubs which have different hydraulic architecture compared to trees.

  14. Coordinated Control of Multi-Agent Systems in Rapidly Varying Environments Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The main objective of this Phase II STTR project is to develop advanced control algorithms that enable multiple autonomous agents to perform complex tasks in rapidly...

  15. Sediment supply versus local hydraulic controls on sediment transport and storage in a river with large sediment loads

    Science.gov (United States)

    Dean, David; Topping, David; Schmidt, John C.; Griffiths, Ronald; Sabol, Thomas

    2016-01-01

    The Rio Grande in the Big Bend region of Texas, USA, and Chihuahua and Coahuila, Mexico, undergoes rapid geomorphic changes as a result of its large sediment supply and variable hydrology; thus, it is a useful natural laboratory to investigate the relative importance of flow strength and sediment supply in controlling alluvial channel change. We analyzed a suite of sediment transport and geomorphic data to determine the cumulative influence of different flood types on changing channel form. In this study, physically based analyses suggest that channel change in the Rio Grande is controlled by both changes in flow strength and sediment supply over different spatial and temporal scales. Channel narrowing is primarily caused by substantial deposition of sediment supplied to the Rio Grande during tributary-sourced flash floods. Tributary floods have large suspended-sediment concentrations, occur for short durations, and attenuate rapidly downstream in the Rio Grande, depositing much of their sediment in downstream reaches. Long-duration floods on the mainstem have the capacity to enlarge the Rio Grande, and these floods, released from upstream dams, can either erode or deposit sediment in the Rio Grande depending upon the antecedent in-channel sediment supply and the magnitude and duration of the flood. Geomorphic and sediment transport analyses show that the locations and rates of sand erosion and deposition during long-duration floods are most strongly controlled by spatial changes in flow strength, largely through changes in channel slope. However, spatial differences in the in-channel sediment supply regulate sediment evacuation or accumulation over time in long reaches (greater than a kilometer).

  16. Rapid and quantitative quality control of microarrays using cationic nanoparticles.

    Science.gov (United States)

    Sun, Ye; Fan, Wenhua; McCann, Michael P; Golovlev, Val

    2009-02-15

    The fabrication quality of microarrays significantly influences the accuracy and reproducibility of microarray experiments. In this report, we present a simple and fast quality control (QC) method for spotted oligonucleotide and cDNA microarrays. It employs a nonspecific electrostatic interaction of colloidal gold nanoparticles with the chemical groups of DNA molecules and other biomolecules immobilized on the microarray surface that bear positive or negative charges. An inexpensive flatbed scanner is used to visualize and quantify the binding of cationic gold particles to the anionic DNA probes on the microarray surface. An image analysis software was designed to assess the various parameters of the array spots including spot intensity, shape and array homogeneity, calculate the overall array quality score, and save the detailed array quality report in an Excel file. The gold staining technique is fast and sensitive. It can be completed in 10 min and detect less than 1% of the probe amount commonly recommended for microarrays. Compared to the current microarray QC method that utilizes the hybridization of probes with short random sequence oligonucleotides labeled with fluorophore, our gold staining method requires less time for the analysis, reduces the reagent cost, and eliminates the need for the expensive laser scanner.

  17. A rapid approach to rational water pollution control strategies.

    Science.gov (United States)

    Economopoulos, A P

    1996-10-01

    The formulation of rational wastewater control strategies is becoming increasingly important in many countries where, exploding urbanization, industrialization and/or tourism, often combined with improved standards of living and better awareness of the environmental problems, are resulting in enlarged pollution problems, but also in the availability of expanding financial resources for environmental protection. However, more often than one tends to believe, lack of planning, or planning with limited understanding of the principles involved, has resulted in solutions that are both expensive and incapable of addressing the key problems.As rigorous planning is extremely resource intensive, and for this reason impractical for most study areas, the development of a much simplified analysis procedure, capable of generating rational, near-optimum, strategies and detailed action programs, is required, if proper environmental management is to be widely practiced.In an effort to achieve the above objectives, a systems analysis approach is selected as the most suitable at rationalizing the allocation of available resources and at producing detailed action programs that promote implementation. In the context of this approach, new, easy to use models have been developed, while others, have been selected, adapted and streamlined in their use. The entire problem analysis and strategy synthesis procedures have thus been simplified and defined to a degree appropriate for widespread use, and the resultant procedure is actively promoted by WHO and UNEP.

  18. Hydraulic wind energy conversion system

    Energy Technology Data Exchange (ETDEWEB)

    1981-07-01

    The purpose of this research was to design, build and test a hydraulic wind energy system. This design used a three bladed turbine, which drove a hydraulic pump. The energy is transmitted from the pump through a long hose and into a hydraulic motor, where the energy is used. This wind system was built and tested during the winter of 1980-1981. The power train included a five meter, three bladed wind turbine, a 9.8:1 ratio gearbox, a 1.44 cubic inch displacement pump with a small supercharge gear pump attached. The hydraulic fluid was pumped through a 70', 3/4'' I-D-high pressure flexhose, then through a volume control valve and into a 1.44 cubic inch displacement motor. The fluid was returned through a 70', 1'' I-D-flexhose.

  19. 水下生产控制系统液压动力模拟分析%Hydraulic Power Simulation Analysis for Subsea Production Control System

    Institute of Scientific and Technical Information of China (English)

    周声结; 戚蒿

    2013-01-01

    对水下生产系统的液压系统、电力系统和通信系统进行不同工况下的性能分析是保障水下生产装置安全可靠工作的关键.以中海石油(中国)有限公司湛江分公司某气田开发工程项目水下生产系统的液压系统构架及参数分析为例,介绍了运用“The Control Simulator”软件进行液压动力分析的要点.分析在最小和最大井口关断压力下阀门的开关响应时间、阀门打开之后压力恢复时间、序列阀门开启时间、ESD指令下关阀响应时间等,并将分析结果和实际生产情况进行对比,可知该液压系统的各项性能指标均满足相应标准和规范的要求.%The performance analyses in various cases for hydraulic system,power system and communication system of subsea production system are the key to ensure the subsea production equipment working reliably.Based on the hydraulic system architecture and performance analysis of a gas field development project of CNOOC Ltd._ Zhanjiang,the key points of applying software "The Control Simulator" to make hydraulic system performance analysis were presented.By analyzing valve actuator operating time,hydraulic pressure recovering times,valve opening time in series,valve closing time in ESD command under maximum and minimum wellhead shut-in pressure and comparing the conclusions with actual operating case,it is shown that the hydraulic system meets the requirement of corresponding standard.

  20. Hydraulic Signals from the Roots and Rapid Cell-Wall Hardening in Growing Maize (Zea mays L.) Leaves Are Primary Responses to Polyethylene Glycol-Induced Water Deficits.

    Science.gov (United States)

    Chazen, O.; Neumann, P. M.

    1994-04-01

    induced changes in surface electrical potential were necessary, and hydraulic signals appeared to generate the leaf responses.

  1. Single Neuron PID Control of Aircraft Deicing Fluids Rapid Heating System

    Directory of Open Access Journals (Sweden)

    Bin Chen

    2013-02-01

    Full Text Available Aircraft deicing fluids rapid heating system is widely used in aircraft ground deicing to ensure that the operation of flights can be safe and efficient. Aiming at the temperature turbulence problem of aircraft deicing system, this paper presents the single neuron PID control strategy which combine the advantage of conventional PID control with artificial neuron control. The aircraft deicing fluids rapid heating system and the scheme and working principle of the system is introduced. Simulation is executed on the basis of the mathematical model of aircraft deicing fluids rapid heating system, which is built in this paper, according to a number of data collected by experiments which are operated on the experimental platform of deicing fluids rapid heating system. The simulation results show that the single neuron PID control strategy perform effectively on the temperature turbulence problem of aircraft deicing fluids rapid heating system. Experiments are conducted to vertify the single neuron PID control strategy, the results of which show that the single neuron PID control strategy can achieve the request in practical application of the aircraft deicing fluids rapid heating system.

  2. A Study on Integration of Energy Harvesting System and Semi-Active Control for a Hydraulic Suspension System

    OpenAIRE

    Chiang, Mao-Hsiung; Sung, Yung-Ching; Liu, Han-Hsiang

    2016-01-01

    Suspension systems are used to diminish the vibration of vehicles. The hydraulic dampers in conventional suspension systems are mainly designed with the orifices of the piston; however, the vibration energy will be transferred into waste heat. In recent years, conventional vehicles with internal combustion engines and hybrid vehicles are used commonly. However, with the gradual depletion of fossil fuels, electric vehicles are developing. For this reason, the research focuses on recycling ener...

  3. Analysis and Reform on Reliability of Circulating Water Pump and Hydraulic-control Butterfly Valve Control System%循环水泵及液控蝶阀控制系统可靠性分析及改造

    Institute of Scientific and Technical Information of China (English)

    郭凌云

    2014-01-01

    This paper introduces and analyzes existing problems of circulating water pump and hydraulic-control butterfly valve control system in Guangdong Datang Chaozhu power plant and proposes optimization measures for improving reliabili-ty.Referred measures are feasible to greatly improve reliability of circulating water pump and hydraulic-control butterfly valve control system and safety of the unit.%对广东大唐潮州电厂循环水泵、液控蝶阀控制系统存在的问题进行了介绍和分析,并提出提高可靠性改造的优化措施。这些措施大大提高了循环水泵及液控蝶阀控制系统的可靠性及机组的安全性。

  4. Application of Discrete Event Control to the Insertion Task of Electric Line Using 6-Link Electro-Hydraulic Manipulators with Dual Arm

    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. The 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. Meanwhile it is relatively difficult to realize autonomous assembly tasks particularly in the case of manipulating flexible objects such as electric lines. In this report, a discrete event control system is introduced for automatic assembly task of electric lines into sleeves as one of a typical task of active electric power lines. In the implementation of a discrete event control system, LVQNN (learning vector quantization neural network) is applied to the insertion task of electric lines to sleeves. In order to apply these proposed control system to the unknown environment, virtual learning data for LVQNN was generated by fuzzy inference. By the experimental results of two types of electric lines and sleeves, these proposed discrete event control and neural network learning algorithm are confirmed very effective to the insertion tasks of electric lines to sleeves as a typical task of active electric power maintenance tasks.

  5. Countermeasures for electrolytic corrosion - Part II: Implementation of a rapid potential-controlled rectifier

    Energy Technology Data Exchange (ETDEWEB)

    Ha, Tae-Hyun; Kim, Dae-Kyeong; Lee, Hyun-Goo; Ha, Yoon-Cheol; Bae, Jeong-Hyo [Underground Systems Group, Korea Electrotechnology Research Institute, 28-1 Sungju-dong, Changwon, 641-120 (Korea)

    2004-07-01

    In electrolytic interference circumstances such as underground pipelines in the vicinity of DC electrified railroads, drainage method or impressed current cathodic protection method has been widely used as a countermeasure for the electrolytic corrosion. In the former method, forced or polarized drainage is commonly adopted and in the latter, the phase-controlled rectifier with thyristor is in common use. Both methods, however, does not show as the optimal measure for the integrity of the pipeline, since the pipe-to-soil potential fluctuates highly positive to the cathodic protection criterion. In particular, as the potential of the pipeline near the railroad varies rapidly, a new rapidly responding countermeasure is necessary. In this paper, we introduce a new rapid potential controlled rectifier and report the result in field tests. Comparison with the existing forced drainage method is also made. The pipe-to-soil potential data show the effectiveness of the rapid potential-controlled rectifier. (authors)

  6. Mechatronic Hydraulic Drive with Regulator, Based on Artificial Neural Network

    Science.gov (United States)

    Burennikov, Y.; Kozlov, L.; Pyliavets, V.; Piontkevych, O.

    2017-06-01

    Mechatronic hydraulic drives, based on variable pump, proportional hydraulics and controllers find wide application in technological machines and testing equipment. Mechatronic hydraulic drives provide necessary parameters of actuating elements motion with the possibility of their correction in case of external loads change. This enables to improve the quality of working operations, increase the capacity of machines. The scheme of mechatronic hydraulic drive, based on the pump, hydraulic cylinder, proportional valve with electrohydraulic control and programmable controller is suggested. Algorithm for the control of mechatronic hydraulic drive to provide necessary pressure change law in hydraulic cylinder is developed. For the realization of control algorithm in the controller artificial neural networks are used. Mathematical model of mechatronic hydraulic drive, enabling to create the training base for adjustment of artificial neural networks of the regulator is developed.

  7. 一种船用液压舵机控制系统设计%Design of Hydraulic Servo Control System for Ship

    Institute of Scientific and Technical Information of China (English)

    汪永生; 王洪波

    2014-01-01

    Aiming at small and medium ships,an open-loop type hydraulic servo control system was designed which had a simple structure and taking up small space. Adopting the system,the rudder machine works more steadily.%针对中小型船舶,设计一种结构简单、占用空间小的开式回路液压控制系统,同时采用了回油节流调速回路,使得舵机工作比较平稳。

  8. Shaking table test and verification of development of an accumulated semi-active hydraulic damper as an active interaction control device

    Indian Academy of Sciences (India)

    MING-HSIANG SHIH; WEN-PEI SUNG

    2016-12-01

    Semi-active control is based on the use of the emerging concept of active control and passive control. The developed accumulator semi-active hydraulic damper (ASHD) is converted to interaction element (IE) of active interaction control (AIC). Systemic equations of motion, control law and control rulers of this proposed new AIC are studied in this research. A full-scale multiple degrees of freedom shaking table is tested toverify the energy dissipation of this proposed AIC, including test building without control, with passive control added involving various stiffness ratios and also with synchronic control added involving various stiffness ratios. Shock absorption of displacement can be up to 74–81% of that of the test structure with stiffness ratio = 2.3387 and 1.790 at 1st and 2nd floor under control of synchronous switch of this proposed AIC, respectively. No matter what the test structure added with various stiffeners at 1st and 2nd floor under synchronous control, test results of shock absorption ratio of acceleration show good seismic proof capability. In addition, base shear control effects of this proposed AIC method are higher than those of the test structure with various stiffeners added underpassive control. These results show that AIC with stiffeners for structural control provides the characteristics of a stabilized structure under excitation of near-fault earthquake with velocity impulse action

  9. FOREWORD: 26th IAHR Symposium on Hydraulic Machinery and Systems

    Science.gov (United States)

    Wu, Yulin; Wang, Zhengwei; Liu, Shuhong; Yuan, Shouqi; Luo, Xingqi; Wang, Fujun

    2012-11-01

    The 26th IAHR Symposium on Hydraulic Machinery and Systems, will be held in Beijing, China, 19-23 August 2012. It is jointly organized by Tsinghua University, State Key Laboratory of Hydro Science and Hydraulic Engineering, China, Jiangsu University, Xi'an University of Technology, China Agricultural University, National Engineering Research Center of Hydropower Equipment and Dongfang Electric Machinery Co., Ltd. It is the second time that China hosts such a symposium. By the end of 2011, the China electrical power system had a total of 1 050 GW installed power, out of which 220 GW was in hydropower plants. The energy produced in hydropower facilities was 662.6 TWh from a total of 4,720 TWh electrical energy production in 2011. Moreover, in 2020, new hydropower capacities are going to be developed, with a total of 180 GW installed power and an estimated 708 TWh/year energy production. And in 2011, the installed power of pumped storage stations was about 25GW. In 2020, the data will be 70GW. At the same time, the number of pumps used in China is increasing rapidly. China produces about 29,000,000 pumps with more than 220 series per year. By the end of 2011, the Chinese pumping system has a total of 950 GW installed power. The energy consumed in pumping facilities was 530 TWh in 2011. The pump energy consumption accounted for about 12% of the national electrical energy production. Therefore, there is a large market in the field of hydraulic machinery including water turbines, pump turbines and a variety of pumps in China. There are also many research projects in this field. For example, we have conducted National Key Research Projects on 1000 MW hydraulic turbine, and on the pump turbines with high head, as well as on the large capacity pumps for water supply. Tsinghua University of Beijing is proud to host the 26th IAHR Symposium on Hydraulic Machinery and Systems. Tsinghua University was established in 1911, after the founding of the People's Republic of China. It

  10. Application of deadbeat control with constraint and non-ripple in precision rapid displacement system

    Science.gov (United States)

    Li, Peng; Cui, Jiwen; Tan, Jiubin; Ding, Xuemei

    2015-02-01

    In order to enable the output response of a precision rapid displacement system to rapidly track the input instructions, and solve the problem of excessive control amplitude in the shortest period of time, deadbeat control with constraint and non-ripple can be used to enhance the system response rate under the constraint. Simulation results show that the steady-state step signal tracking error of a system can reach +/-1.5μm under random disturbance, and the step response is rapid and accurate. Compared with general control strategies, this method has a digital control design to increase the speed of response, the fine anti-disturbance ability, and the potential for wide application.

  11. Application of PID Control in Hydraulic Elevator Speed Feedback Control System%PID控制在液压电梯速度反馈控制系统中的应用

    Institute of Scientific and Technical Information of China (English)

    应法明

    2014-01-01

    According to the nonlinear mathematical model of hydraulic elevator, it was very difficult to use mechanism model directly, and cannot get the controlling mathematical model.Therefore, identification method was used to set up the model. Secondly, the PID controller was designed, and the transfer function for the speed feedback control system of hydraulic eleva-tor was theoretically deduced, and the value range of the PID controller parameters was given.Finally, the Simulink model of hydraulic elevator was established, and the effectiveness and feasibility of PID control algorithm were verified.%针对液压电梯的非线性数学模型,直接用机理建模非常困难,得不到可用于控制的数学模型。因此采用辨识方法建立模型。其次,设计了PID控制器,理论上推导了液压电梯速度反馈控制系统的传递函数,并给出了PID控制参数的取值范围。最后,建立了液压电梯的Simulink模型,验证了PID控制算法的有效性和可行性。

  12. Controlled cooling versus rapid freezing of teratozoospermic semen samples: Impact on sperm chromatin integrity

    Directory of Open Access Journals (Sweden)

    Shivananda N Kalludi

    2011-01-01

    Full Text Available Aim: The present study evaluates the impact of controlled slow cooling and rapid freezing techniques on the sperm chromatin integrity in teratozoospermic and normozoospermic samples. Setting: The study was done in a university infertility clinic, which is a tertiary healthcare center serving the general population. Design: It was a prospective study designed in vitro. Materials and Methods: Semen samples from normozoospermic (N=16 and teratozoospermic (N=13 infertile men were cryopreserved using controlled cooling and rapid freezing techniques. The sperm chromatin integrity was analyzed in fresh and frozen-thawed samples. Statistical Analysis Used: Data were reported as mean and standard error (mean ± SEM of mean. The difference between two techniques was determined by a paired t-test. Results: The freeze-thaw induced chromatin denaturation was significantly (P<0.01 elevated in the post-thaw samples of normozoospermic and teratozoospermic groups. Compared to rapid freezing, there was no difference in the number of red sperms (with DNA damage by the controlled slow cooling method in both normozoospermic and teratozoospermic groups. Freeze-thaw induced sperm chromatin denaturation in teratozoospermic samples did not vary between controlled slow cooling and rapid freezing techniques. Conclusions: Since the controlled slow cooling technique involves the use of expensive instrument and is a time consuming protocol, rapid freezing can be a good alternative technique for teratozoospermic and normozoospermic samples when sperm DNA damage is a concern.

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

    Directory of Open Access Journals (Sweden)

    Fabián Higuera

    2013-12-01

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

  14. On the Modelling and Control of a Laboratory Prototype of a Hydraulic Canal Based on a TITO Fractional-Order Model

    Directory of Open Access Journals (Sweden)

    Andres San-Millan

    2017-08-01

    Full Text Available In this paper a two-input, two-output (TITO fractional order mathematical model of a laboratory prototype of a hydraulic canal is proposed. This canal is made up of two pools that have a strong interaction between them. The inputs of the TITO model are the pump flow and the opening of an intermediate gate, and the two outputs are the water levels in the two pools. Based on the experiments developed in a laboratory prototype the parameters of the mathematical models have been identified. Then, considering the TITO model, a first control loop of the pump is closed to reproduce real-world conditions in which the water level of the first pool is not dependent on the opening of the upstream gate, thus leading to an equivalent single input, single output (SISO system. The comparison of the resulting system with the classical first order systems typically utilized to model hydraulic canals shows that the proposed model has significantly lower error: about 50%, and, therefore, higher accuracy in capturing the canal dynamics. This model has also been utilized to optimize the design of the controller of the pump of the canal, thus achieving a faster response to step commands and thus minimizing the interaction between the two pools of the experimental platform.

  15. Active Control of Automotive Intake Noise under Rapid Acceleration using the Co-FXLMS Algorithm

    Science.gov (United States)

    Lee, Hae-Jin; Lee, Gyeong-Tae; Oh, Jae-Eung

    The method of reducing automotive intake noise can be classified by passive and active control techniques. However, passive control has a limited effect of noise reduction at low frequency range (below 500 Hz) and is limited by the space of the engine room. However, active control can overcome these passive control limitations. The active control technique mostly uses the Least-Mean-Square (LMS) algorithm, because the LMS algorithm can easily obtain the complex transfer function in real-time, particularly when the Filtered-X LMS (FXLMS) algorithm is applied to an active noise control (ANC) system. However, the convergence performance of the LMS algorithm decreases significantly when the FXLMS algorithm is applied to the active control of intake noise under rapidly accelerating driving conditions. Therefore, in this study, the Co-FXLMS algorithm was proposed to improve the control performance of the FXLMS algorithm during rapid acceleration. The Co-FXLMS algorithm is realized by using an estimate of the cross correlation between the adaptation error and the filtered input signal to control the step size. The performance of the Co-FXLMS algorithm is presented in comparison with that of the FXLMS algorithm. Experimental results show that active noise control using Co-FXLMS is effective in reducing automotive intake noise during rapid acceleration.

  16. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

    Madsen, Henrik; Zhou, Jianjun; Hansen, Lars Henrik

    1997-01-01

    This paper describes a case study of identifying the physical model (or the grey box model) of a hydraulic test robot. The obtained model is intended to provide a basis for model-based control of the robot. The physical model is formulated in continuous time and is derived by application...... of the laws of physics on the system. The unknown (or uncertain) parameters are estimated with Maximum Likelihood (ML) parameter estimation. The identified model has been evaluated by comparing the measurements with simulation of the model. The identified model was much more capable of describing the dynamics...... of the system than the deterministic model....

  17. A Computational Model of Hydraulic Volume Displacement Drive

    Directory of Open Access Journals (Sweden)

    V. N. Pil'gunov

    2014-01-01

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

  18. Study of Control Strategy for Marine Variable Frequency Hydraulic Steering Gear%船舶变频液压舵机控制策略研究

    Institute of Scientific and Technical Information of China (English)

    朱钰

    2012-01-01

    针对船舶变频液压舵机系统存在控制死区、响应速度慢、负载影响大等特点,采用解析法与实验法相结合,获得变频液压舵机系统数学模型;采用死区补偿电压解决变频电机转速稳态误差问题;采用Z-N控制参数整定方法,确定变频电机转速PID控制参数初值.建立舵机液压模拟加载系统,实现水动力负载、周期性海浪负载和随机冲击负载的模拟.提出舵角控制采用分段控制策略,小偏差采用模糊自适应PID控制,控制算法中引入舵机负载变化因素.结果表明:该控制策略能有效抑制负载引起的舵角扰动,提高系统动态特性和鲁棒性,实现舵角快速、稳定的控制.%Aiming at the features such as control dead-zone, slow responding and great load disturbance of the marine variable frequency hydraulic steering gear, the theoretical and experimental analysis is adopted to obtain the mathematical model of the marine variable frequency hydraulic steering gear. The compensation voltage for the dead-zone is adopted to eliminate the steady error for the motor speed. The preliminary PID parameters for the speed control of the variable frequency motor are obtained by means ofZ-N method. The simulation loading hydraulic system for steering gear is set up, and the hydrodynamic load, the periodic sea wave load and the random shock load are achieved. The stage control strategy for the steering angle is put forward. The fuzzy adaptive PID algorithm is used when the deviation is small, and the factor representing the variation of the load is introduced to the control algorithm. The result shows that the rudder angle disturbances caused by the load are successfully restrained, by which the dynamic characteristic and robustness are improved. The quick and stable control for the steering angle is achieved.

  19. HYDRAULICS, LOUISA COUNTY, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Hydraulic data include spatial datasets and data tables necessary for documenting the hydraulic analysis for estimating flood stages for a flood insurance study. It...

  20. Hydraulic Hybrid Vehicles

    Science.gov (United States)

    EPA and the United Parcel Service (UPS) have developed a hydraulic hybrid delivery vehicle to explore and demonstrate the environmental benefits of the hydraulic hybrid for urban pick-up and delivery fleets.

  1. 基于 PLC 的液压滑台控制系统设计%Design of Hydraulic Control System Based on PLC

    Institute of Scientific and Technical Information of China (English)

    乔培平

    2014-01-01

    Aiming at the existing problem of relay contactor control system ,this article used PLC technology to control the feeding motion of hydraulic sliding table .The PLC models was chosen ,the hardware and software were designed ,and the ladder diagram was given .The system has been applied to the actual cutting process ,and the feasibility and practicability has been verified .%针对继电器接触器控制系统存在的问题,采用PLC技术对液压动力滑台进给运动进行控制。选择了PLC机型,进行了硬件设计、软件设计,并画出了梯形图。应用于实际切削过程中,验证了其可行性和实用性。

  2. FEEDBACK LINEARISATION APPLIED ON A HYDRAULIC

    DEFF Research Database (Denmark)

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

    2005-01-01

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

  3. Study on Decelerating Performance of Hydraulic Driving Control Rod%水压驱动控制棒减速性能研究

    Institute of Scientific and Technical Information of China (English)

    秦本科; 许星星; 薄涵亮; 宋威

    2015-01-01

    The control rod hydraulic driving line (CRHDL) is a new type of in‐vessel control rod driving technology .The control rod hydraulic deceleration device (CRHDD) is one of the key components of the CRHDL . To prevent the control rod cross wing from being permanently deformed or damaged during the fast dropping rod process ,the CRHDD performs the fast dropping rod deceleration function through the interworking of the slow‐down plug and water filled cylinder .The hydraulic driving rod deceleration test was conducted to get the slow‐down mechanism of the CRHDD ,and a dynamic model was developed to analyze the key parameters of the decelerating process .The model calculation result agrees well with the experiment result , which verifies the accuracy of the model .Then the CRHDD performance calculation under reactor high temperature working condition was carried out through the CRHDD dynamic model . The above work lays solid foundation for the design and upgrade of the CRHDD .%控制棒水压驱动线是一种新型的内置式控制棒驱动技术,控制棒水力减速装置是水压驱动线的关键部件之一,通过水力减速片和减速筒体的配合对控制棒进行减速,降低快速落棒末端的冲击速度,避免控制棒的变形和损坏。完成了水压驱动线快速落棒减速实验,对减速过程机理进行了分析,在此基础上建立了水压驱动线快速落棒减速理论模型,理论模型的求解结果与实验结果符合很好,从而验证了理论模型的正确性。通过该模型对热态工况下水压驱动线的快速落棒性能进行了分析,为控制棒水压驱动线减速环节的设计和优化奠定了基础。

  4. 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

  5. Water Hydraulic 2/2 Directional Valve with Plane Piston Structure

    Institute of Scientific and Technical Information of China (English)

    GONG Yongjun; YANG Huayong; WANG Zuwen

    2009-01-01

    Due to the fire resistance and environmental compatibility, using water as the working fluid in hydraulic circuits is receiving an increasing attention by both manufactures and users. This hydraulic directional valve is developed. When new water hydraulic directional valve is designed and manufactured, this paper introduces a water hydraulic 2/2 directional valve and its principle. The valve is composed of a hydraulically operated seat valve and a magnetic 3/2 direction valve. Aimed at the serious leakage and impact generating easily in reversing suddenly, an improved structure of water space seal is changed to direct seal, compaction force between main valve spool and main valve pocket was logically designed and damper in pilot valve port is matched with sensitive cavity in main valve. From the view of flow control, the methods of cavitation resistance of the directional water hydraulic valve are investigated. The computational fluid dynamics approaches are applied to obtain static pressure distributions and cavitation images in the channel of the main stage of the valve with two kinds of structure. The results show that the method of optimized spout can effectively restrain cavitation. The work provides some useful reference for developing water hydraulic control valve with the Dower noise and lower vibration. Meantime, the structural parameters are optimized on the basis of information obtained from simulation. Static test, dynamic test and life test are accomplished, and the results show that the water hydraulic directional valve possesses good property, its pressure loss is 1.1 MPa lower, switching time is shorter than 0.025 s, and its strike crest is 0.8 MPa lower. The valve possess fine dynamic performance with the characteristic rapidly action and lower implusion.

  6. Electro-hydraulic Proportional Control Technology and Its Applications%电液比例控制技术及在自动液压压砖机中的应用

    Institute of Scientific and Technical Information of China (English)

    汪建晓

    2001-01-01

    简述了电液比例控制技术的基本原理和特点,介绍了其在自动液压压砖机中的应用概况。以LAEIS公司ALPHAI1500-03型压砖机为例具体分析其使用的电液比例控制系统的工作原理,并展望了电液比例控制技术在压砖机上的应用前景。%In this paper,the basic principle and characteristics of electro-hydraulic proportional control technology are briefly introduced,and the application situation of the technology in automatic hydraulic press for ceramic tiles are prsented.As an example,the operation principles of the electro-hydraulic proportional control systems used in ALPHA1500-03 type hydraulic press made by LAEIS Corp.are analyzed concretely.The application prospect of proportional control technology in automatic hydraulic press is discussed finally.

  7. Local and synoptic controls on rapid supraglacial lake drainage in West Greenland

    Science.gov (United States)

    Williamson, Andrew; Banwell, Alison; Arnold, Neil; Willis, Ian

    2016-04-01

    Many supraglacial lakes within the ablation zone of the Greenland Ice Sheet (GrIS) are known to drain rapidly (in scale factors, such as ice thickness, driving stresses, ice velocities and strain rates. A combination of the local water-volume threshold and one or more synoptic-scale factors may explain the overall patterns of rapid lake drainage, but this requires verification using targeted field- and remotely-based studies that cover large areas of the GrIS and span long timescales. Here, we investigate a range of potential controls on rapid supraglacial lake drainage in the land-terminating Paakitsoq region of the ice sheet, northeast of Jakobshavn Isbræ, for the 2014 melt season. We have analysed daily 250-m Moderate Resolution Imaging Spectroradiometer (MODIS) imagery in order to calculate lake areas, depths and volumes, and have developed an automatic lake-tracking algorithm to determine the dates on which all rapid lake drainage events occur. For each rapidly draining lake, the water volumes immediately prior to drainage are compared with other local factors, notably lake-filling rate and ice thickness, and with a variety of synoptic-scale features, such as slope angles, driving stresses, surface velocities, surface strain rates and the incidence of nearby lake-drainage events. We present the outcomes of our statistical analysis to elicit the statistically significant controls on hydrofracture beneath supraglacial lakes.

  8. 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.

  9. 数控机床液压系统的可靠性验证试验方法%Reliability Validation Test for Hydraulic System of Numerical Control Machine

    Institute of Scientific and Technical Information of China (English)

    尹鹏程

    2011-01-01

    根据数控机床液压系统的主要故障模式,建立液压系统的可靠性模型,给出液压系统的可靠性特征量;基于可靠性试验的基本思路,提出数控机床液压系统的可靠性试验方法并给出示例,为数控机床液压系统的可靠性验证试验提供技术途径.%The functions, principles and main failure modes of hydraulic system of numerical control machine were introduced. A reliability model for this type of hydraulic system was established. Reliability characteristic parameters of this hydraulic system were given. Based on the idea of characteristic parameter measurement, the reliability test methods of the hydraulic system were put forward. An application example was given. The research work provides technology way for reliability validation test methods of the hydraulic system of numerical control machine.

  10. Rapid Active Power Control of Photovoltaic Systems for Grid Frequency Support

    Energy Technology Data Exchange (ETDEWEB)

    Hoke, Anderson; Shirazi, Mariko; Chakraborty, Sudipta; Muljadi, Eduard; Maksimovic, Dragan

    2017-01-01

    As deployment of power electronic coupled generation such as photovoltaic (PV) systems increases, grid operators have shown increasing interest in calling on inverter-coupled generation to help mitigate frequency contingency events by rapidly surging active power into the grid. When responding to contingency events, the faster the active power is provided, the more effective it may be for arresting the frequency event. This paper proposes a predictive PV inverter control method for very fast and accurate control of active power. This rapid active power control method will increase the effectiveness of various higher-level controls designed to mitigate grid frequency contingency events, including fast power-frequency droop, inertia emulation, and fast frequency response, without the need for energy storage. The rapid active power control method, coupled with a maximum power point estimation method, is implemented in a prototype PV inverter connected to a PV array. The prototype inverter's response to various frequency events is experimentally confirmed to be fast (beginning within 2 line cycles and completing within 4.5 line cycles of a severe test event) and accurate (below 2% steady-state error).

  11. Rapid Energy Transfer Enabling Control of Emission Polarization in Perylene Bisimide Donor-Acceptor Triads.

    Science.gov (United States)

    Menelaou, Christopher; ter Schiphorst, Jeroen; Kendhale, Amol M; Parkinson, Patrick; Debije, Michael G; Schenning, Albertus P H J; Herz, Laura M

    2015-04-02

    Materials showing rapid intramolecular energy transfer and polarization switching are of interest for both their fundamental photophysics and potential for use in real-world applications. Here, we report two donor-acceptor-donor triad dyes based on perylene-bisimide subunits, with the long axis of the donors arranged either parallel or perpendicular to that of the central acceptor. We observe rapid energy transfer (energy transfer rate for the linearly arranged triad but severely underestimates it for the orthogonal case. We show that the rapid energy transfer arises from a combination of through-bond coupling and through-space transfer between donor and acceptor units. As they allow energy cascading to an excited state with controllable polarization, these triad dyes show high potential for use in luminescent solar concentrator devices.

  12. Geomorphic response to an extreme flood in two mountain rivers (northeastern Sardinia, Italy): the role of geomorphic and hydraulic controlling factors

    Science.gov (United States)

    Righini, Margherita; Surian, Nicola; Wohl, Ellen; Amponsah, William; Marchi, Lorenzo; Borga, Marco

    2016-04-01

    Geomorphic response to an extreme flood in two mountain rivers (northeastern Sardinia, Italy): the role of geomorphic and hydraulic controlling factors Margherita Righini (1), Nicola Surian (1), Ellen Wohl (2), William Amponsah (3, 4), Lorenzo Marchi (3), Marco Borga (4) (1) Department of Geosciences, University of Padova, Italy, (2) Department of Geosciences, Colorado State University, Fort Collins, Colorado, USA, (3) CNR IRPI, Padova, Italy, (4) Department of Land, Environment, Agriculture and Forestry, University of Padova, Italy. The investigation of geomorphic effectiveness of extreme floods is crucial to improve tools for assessing channel dynamics and our capability of forecasting geomorphological hazard. This work deals with geomorphic response of two mountain rivers in the Posada catchment (northeastern Sardinia, Italy), considering a range of morphological (i.e., lateral channel confinement, channel gradient, channel sinuosity, sediment sources, and vegetation) and hydraulic variables (i.e., cross-sectional stream power, unit stream power, flow duration and total energy expenditure) as possible controlling factors. On November 18th 2013, northeastern Sardinia was affected by an extreme meteorological event with hourly rainfall intensities up to 100 mm/h and a peak in rain accumulation up to 450 mm in 24 hours, with 18 casualties and damages to infrastructure and buildings. In the Posada and Mannu di Bitti Rivers, the geomorphic response (i.e., bank erosion, channel aggradation and incision, vegetation and wood dynamics, hillslope failure) was analyzed at different spatial scales. The observed dominant geomorphic change was channel widening. Therefore, channel width changes have been analyzed in detail by remote sensing and GIS tools integrated by field surveys. The study focuses on reaches (i.e., 22.5 km in the Posada River, upstream of Maccheronis dam; 18.2 km in the Mannu di Bitti River) affected by evident and significant geomorphic responses in terms

  13. Modeling, Optimization, and Detailed Design of a Hydraulic Flywheel-Accumulator

    Science.gov (United States)

    Strohmaier, Kyle Glenn

    Improving mobile energy storage technology is an important means of addressing concerns over fossil fuel scarcity and energy independence. Traditional hydraulic accumulator energy storage, though favorable in power density, durability, cost, and environmental impact, suffers from relatively low energy density and a pressure-dependent state of charge. The hydraulic flywheel-accumulator concept utilizes both the hydro-pneumatic and rotating kinetic energy domains by employing a rotating pressure vessel. This thesis provides an in-depth analysis of the hydraulic flywheel-accumulator concept and an assessment of the advantages it offers over traditional static accumulator energy storage. After specifying a practical architecture for the hydraulic flywheel-accumulator, this thesis addresses the complex fluid phenomena and control implications associated with multi-domain energy storage. To facilitate rapid selection of the hydraulic flywheel-accumulator dimensions, computationally inexpensive material stress models are developed for each component. A drive cycle simulation strategy is also developed to assess the dynamic performance of the device. The stress models and performance simulation are combined to form a toolset that facilitates computationally-efficient model-based design. The aforementioned toolset has been embedded into a multi-objective optimization algorithm that aims to minimize the mass of the hydraulic flywheel-accumulator system and to minimize the losses it incurs over the course of a drive cycle. Two optimizations have been performed - one with constraints that reflect a vehicle-scale application, and one with constraints that reflect a laboratory application. At both scales, the optimization results suggest that the hydraulic flywheel-accumulator offers at least an order of magnitude improvement over traditional static accumulator energy storage, while operating at efficiencies between 75% and 93%. A particular hydraulic flywheel-accumulator design

  14. Simulation and Rapid Prototyping of Adaptive Control Systems using the Adaptive Blockset for Simulink

    DEFF Research Database (Denmark)

    Ravn, Ole

    1998-01-01

    The paper describes the design considerations and implementational aspects of the Adaptive Blockset for Simulink which has been developed in a prototype implementation. The concept behind the Adaptive Blockset for Simulink is to bridge the gap between simulation and prototype controller...... implementation. This is done using the code generation capabilities of Real Time Workshop in combination with C s-function blocks for adaptive control in Simulink. In the paper the design of each group of blocks normally found in adaptive controllers is outlined. The block types are, identification, controller...... design, controller and state variable filter.The use of the Adaptive Blockset is demonstrated using a simple laboratory setup. Both the use of the blockset for simulation and for rapid prototyping of a real-time controller are shown....

  15. Composition of Multiplex Electro-Hydraulic Control System and Operation Modes%电液复合式控制系统的组成及分析工况

    Institute of Scientific and Technical Information of China (English)

    胡雪峰; 封延松

    2012-01-01

    介绍了水下生产系统的控制类型,重点分析了电液复合式系统构成及原理.定义了电液复合式液压系统的分析工况.为了降低控制系统的风险,减少制造及测试的成本,采用了液压仿真模拟软件建立水下生产控制系统的模型,进而确定合适的设备参数.介绍了南海某气田的液压系统模拟仿真分析结果,目前该气田工程项目已进入采购阶段.这一结果对于其他项目的液压系统分析具有重要参考价值.%The types of subsea control system is introduced, the composition of multiplex electro hydraulic controls and hydraulic system's operation modes are defined. In order to reduce the risk and the test cost of hydraulic system, the subsea production control system model is established using hydraulic simulation software to determine the appropriating device parameters. The simulation result of a hydraulic system in a gas field of South China Sea is got, now the field is in the procurement stage. The result will be helpful in the simulation of other project's hydraulic system.

  16. Software Implementation of Hydraulic Cylinder Position PID Closed Loop Control in Proportional Valve Control System Using PLC%比例阀控液压缸位置PID闭环控制的PLC软件实现

    Institute of Scientific and Technical Information of China (English)

    李艳杰; 崔天宇; 王海; 马鹤; 苗鑫超

    2013-01-01

    A software implementation method of hydraulic cylinder position PID closed loop control in proportional valve control system using Siemens S7-200 was proposed.The block diagram and ladder program was given,and experimental studies in Festo TP701 proportional hydraulic test bed was done.Experimental studies have shown that the proportion of open-loop control system,using software methods can achieve the closed-loop control of position and other physical quantities,to control the performance of precision and anti-jamming capability to meet the demand of general industrial applications.%提出一种利用西门子S7-200实现比例阀控制系统中液压缸位置PID闭环控制的软件实现方法,给出了程序框图及梯形图程序,并在Festo TP701比例液压试验台上进行实验研究.实验研究表明,开环比例控制系统中,利用软件的方法可实现位置等物理量的闭环控制,控制精度和抗干扰能力等性能可满足一般工业应用的需求.

  17. Design and Implementation of New Type Hydraulic Turret Control System%新型液压刀塔控制系统的设计与实现

    Institute of Scientific and Technical Information of China (English)

    马潮; 张文洁; 夏宏

    2014-01-01

    针对目前国内中低档电动刀架的不足,介绍了以FANUC 0i数控系统PMC为控制核心、DTY63型液压刀塔为控制对象的控制系统的软硬件设计与实现方法。该系统结构简单、效率高、灵活性强、能很好的适应国内中端市场需求。%Aiming at the shortage of current middle and low lever electric turret, this paper introduces the software and hardware de-sign and implementation method of the control system, in which Fanuc 0i numerical control system PMC is taken as the control core to control DTY63 hydraulic turret. The system has the advantages of simple structure, high efficiency and flexibility, which can be a-dapted to internal mid-range market.

  18. Design of a laboratory hydraulic device for testing of hydraulic pumps

    Directory of Open Access Journals (Sweden)

    Pavel Máchal

    2013-01-01

    Full Text Available The present contribution deals with solves problem of research of testing device to monitor of hydrostatic pumps durability about dynamic loading under laboratory conditions. When carrying out the design of testing device are based on load characteristics of tractor hydraulic circuit, the individual characteristics of hydraulic components and performed calculations. Load characteristics on the tractors CASE IH Magnum 310, JOHN DEERE 8100, ZETOR FORTERRA 114 41 and Fendt 926 Vario were measured. Design of a hydraulic laboratory device is based on the need for testing new types of hydraulic pumps or various types of hydraulic fluids. When creating of hydraulic device we focused on testing hydraulic pumps used in agricultural and forestry tractors. Proportional pressure control valve is an active member of the hydraulic device, which provides change of a continuous control signal into relative pressure of operating fluid. The advantage of a designed hydraulic system is possibility of simulation of dynamic operating loading, which is obtained by measurement under real conditions, and thereby creates laboratory conditions as close to real conditions as possible. The laboratory device is constructed at the Department of Transport and Handling, Faculty of Engineering, Slovak University of Agriculture in Nitra.

  19. Drawing a pictogram operator - hydraulic stowing assembly

    Energy Technology Data Exchange (ETDEWEB)

    Bukhgol' ts, V.P.; Dinershtein, V.A.

    1984-11-01

    Hydraulic stowing is widely used during the extraction of coal from seams prone to spontaneous ignition or from seams situated under preserved structures. Experience has shown that the presence of a considerable number of controlling and measuring devices on hydraulic stowing assemblies results in erratic operations. The authors, after examining the controls of the hydraulic stowing complexes, recommend that all functions which the operator might perform badly or not at all should be controlled automatically. The operator must, however, have access to manual controls which should be included in the system in order to achieve an effective and trouble free operation. The authors propose a pictogram to explain the relationship between the human operator and the hydraulic complex, based on structural diagrams. The system developed, which was tried out at the Koksovaya mine, increased the efficiency of the complex and reduced the work load of the operator. 3 references.

  20. Rapid control of male typical behaviors by brain-derived estrogens

    Science.gov (United States)

    Cornil, Charlotte A.; Ball, Gregory F.; Balthazart, Jacques

    2012-01-01

    Beside their genomic mode of action, estrogens also activate a variety of cellular signaling pathways through non-genomic mechanisms. Until recently, little was known regarding the functional significance of such actions in males and the mechanism that control local estrogen concentration with a spatial and time resolution compatible with these non-genomic actions had rarely been examined. Here, we review evidence that estrogens rapidly modulate a variety of behaviors in male vertebrates. Then, we present in vitro work supporting the existence of a control mechanism of local brain estrogen synthesis by aromatase along with in vivo evidence that rapid changes in aromatase activity also occur in a region-specific manner in response to changes in the social or environmental context. Finally, we suggest that the brain estrogen provision may also play a significant role in females. Together these data bolster the hypothesis that brain-derived estrogens should be considered as neuromodulators. PMID:22983088

  1. Design Considerations for Miniaturized Control Moment Gyroscopes for Rapid Retargeting and Precision Pointing of Small Satellites

    Science.gov (United States)

    Patankar, Kunal; Fitz-Coy, Norman; Roithmayr, Carlos M.

    2014-01-01

    This paper presents the design as well as characterization of a practical control moment gyroscope (CMG) based attitude control system (ACS) for small satellites in the 15-20 kilogram mass range performing rapid retargeting and precision pointing maneuvers. The paper focuses on the approach taken in the design of miniaturized CMGs while considering the constraints imposed by the use of commercial off-the-shelf (COTS) components as well as the size of the satellite. It is shown that a hybrid mode is more suitable for COTS based moment exchange actuators; a mode that uses the torque amplification of CMGs for rapid retargeting and direct torque capabilities of the flywheel motors for precision pointing. A simulation is provided to demonstrate on-orbit slew and pointing performance.

  2. Rapid control of male typical behaviors by brain-derived estrogens.

    Science.gov (United States)

    Cornil, Charlotte A; Ball, Gregory F; Balthazart, Jacques

    2012-10-01

    Beside their genomic mode of action, estrogens also activate a variety of cellular signaling pathways through non-genomic mechanisms. Until recently, little was known regarding the functional significance of such actions in males and the mechanisms that control local estrogen concentration with a spatial and time resolution compatible with these non-genomic actions had rarely been examined. Here, we review evidence that estrogens rapidly modulate a variety of behaviors in male vertebrates. Then, we present in vitro work supporting the existence of a control mechanism of local brain estrogen synthesis by aromatase along with in vivo evidence that rapid changes in aromatase activity also occur in a region-specific manner in response to changes in the social or environmental context. Finally, we suggest that the brain estrogen provision may also play a significant role in females. Together these data bolster the hypothesis that brain-derived estrogens should be considered as neuromodulators.

  3. 液压系统流量PID闭环控制实验研究%Study on Closed Loop Control Experiment of Hydraulic System Flow PID

    Institute of Scientific and Technical Information of China (English)

    刘永; 杨彬

    2016-01-01

    为了提高液压系统的流量控制精度,消除稳态误差,设计了流量PID闭环控制系统。通过在Labview软件中编制测控程序,将实测流量值与目标值的差值输入PID控制器,通过PID控制器输出的转速控制电压调整伺服电机转速,从而使实际输出流量达到目标设定值。实验结果表明:实际输出流量值能很好地跟随、响应目标流量值变化;流量闭环控制系统对阶跃、正弦、斜坡压力干扰信号的校正能力较强。%In order to improve the flow control precision of hydraulic system and eliminate the steady-state error, the flow PID closed loop control system was designed. Through the measurement and control program written in Labview software, the difference between flow measurement value and the target value was inputted the PID controller. The speed control voltage of servo motor PID controller was outputted through PID controller. By adjusting the rotational speed of servo motor, the actual output flow can reach the set value. The experimental results show that the actual flow value can follow and respond to the change of target flow. The flow closed loop control system has strong anti interference ability for the step, sine and slope pressure disturbance signal.

  4. Cleavage of oligodeoxyribonucleotides from controlled-pore glass supports and their rapid deprotection by gaseous amines.

    Science.gov (United States)

    Boal, J H; Wilk, A; Harindranath, N; Max, E E; Kempe, T; Beaucage, S L

    1996-08-01

    A novel method for the deprotection of oligodeoxyribonucleotides has been developed. Gaseous amines such as ammonia or methylamine were employed under pressure to achieve mild and rapid deprotection conditions. For example, oligodeoxyribonucleotides having a (tert-butyl)phenoxyacetyl group for the protection of the exocyclic amino function of cytosine, adenine and guanine were released from controlled-pore glass supports and fully deprotected by ammonia or methylamine under gas phase conditions, at room temperature, within 35 or 2 min respectively.

  5. Rapid control of male typical behaviors by brain-derived estrogens

    OpenAIRE

    Cornil, Charlotte A; Ball, Gregory F.; Balthazart, Jacques

    2012-01-01

    Beside their genomic mode of action, estrogens also activate a variety of cellular signaling pathways through non-genomic mechanisms. Until recently, little was known regarding the functional significance of such actions in males and the mechanism that control local estrogen concentration with a spatial and time resolution compatible with these non-genomic actions had rarely been examined. Here, we review evidence that estrogens rapidly modulate a variety of behaviors in male vertebrates. The...

  6. Finite-time convergent continuous control design based on sliding mode algorithms with application to a hydraulic drive

    DEFF Research Database (Denmark)

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

    2014-01-01

    Sliding modes impose strong robustness toward parametric plant uncertainties and disturbances and provide for accurate tracking performance in control systems. However, in physical systems the application of sliding modes may give rise to undesirable chattering of the control signal due to actuator...... dynamics, possible excitation of unmodelled dynamics and structural resonant modes of load systems, etc. This may be avoided by application of smoothing functions imposing boundary layers on the control constraint, or by carrying out the design in relation to the control derivative. However, such boundary...... layers introduce additional design parameters and actuator dynamics may not allow the desired control accuracy to be reached. In this paper continuous controllers are proposed, with the designs taking their offset in some well-known sliding controllers. The proposed controllers preserve the finite...

  7. Analysis on electrohydraulic speed servo control schemes for anti-explosion hydraulic hoisters%防爆液压提升机电液伺服调速控制方案分析

    Institute of Scientific and Technical Information of China (English)

    丁海港; 赵继云; 赵亮

    2011-01-01

    Based on the analysis of construction and disadvantages of hydraulic control system existing in hydraulic hoisters,a pump controlled motor speed servo system was set up to simulate the close loop control and process of hydraulic hoisters,and then dynamic performances of the system with/without position loop were analyzed,and a conclusion was gained:the electrohydraulic servo control for hydraulic hoisters should ensure the displacement of a variable displacement pump to be regulated independently while motor's rotary speed are fed back and to be controlled in closed loop.Based on this theory,in terms of automatic transformation for traditional anti-explosion hydraulic hoisters,those electrohydraulic speed servo control systems with /without a position loop were designed.%在分析现有液压提升机的液压控制系统的结构与特点的基础上,建立泵控马达电液伺服调速系统,以模拟液压提升机的闭环控制与运行工况,通过对带/不带位置环泵控马达伺服系统的调速特性的分析,指出液压提升机的电液伺服控制应在引入马达转速反馈形成转速闭环的同时,保证变量泵的排量是独立可控的,并以此为据,针对传统液压提升机进行自动化改造,设计了带/不带位置环的防爆液压提升机电液伺服调速系统。

  8. Rapid convergence of optimal control in NMR using numerically-constructed toggling frames

    Science.gov (United States)

    Coote, Paul; Anklin, Clemens; Massefski, Walter; Wagner, Gerhard; Arthanari, Haribabu

    2017-08-01

    We present a numerical method for rapidly solving the Bloch equation for an arbitrary time-varying spin-1/2 Hamiltonian. The method relies on fast, vectorized computations such as summation and quaternion multiplication, rather than slow computations such as matrix exponentiation. A toggling frame is constructed in which the Hamiltonian is time-invariant, and therefore has a simple analytical solution. The key insight is that constructing this frame is faster than solving the system dynamics in the original frame. Rapidly solving the Bloch equations for an arbitrary Hamiltonian is particularly useful in the context of NMR optimal control. Optimal control theory can be used to design pulse shapes for a range of tasks in NMR spectroscopy. However, it requires multiple simulations of the Bloch equations at each stage of the algorithm, and for each relevant set of parameters (e.g. chemical shift frequencies). This is typically time consuming. We demonstrate that by working in an appropriate toggling frame, optimal control pulses can be generated much faster. We present a new alternative to the well-known GRAPE algorithm to continuously update the toggling-frame as the optimal pulse is generated, and demonstrate that this approach is extremely fast. The use and benefit of rapid optimal pulse generation is demonstrated for 19F fragment screening experiments.

  9. Rapid Automatized Naming in Children with Dyslexia: Is Inhibitory Control Involved?

    Science.gov (United States)

    Bexkens, Anika; van den Wildenberg, Wery P M; Tijms, Jurgen

    2015-08-01

    Rapid automatized naming (RAN) is widely seen as an important indicator of dyslexia. The nature of the cognitive processes involved in rapid naming is however still a topic of controversy. We hypothesized that in addition to the involvement of phonological processes and processing speed, RAN is a function of inhibition processes, in particular of interference control. A total 86 children with dyslexia and 31 normal readers were recruited. Our results revealed that in addition to phonological processing and processing speed, interference control predicts rapid naming in dyslexia, but in contrast to these other two cognitive processes, inhibition is not significantly associated with their reading and spelling skills. After variance in reading and spelling associated with processing speed, interference control and phonological processing was partialled out, naming speed was no longer consistently associated with the reading and spelling skills of children with dyslexia. Finally, dyslexic children differed from normal readers on naming speed, literacy skills, phonological processing and processing speed, but not on inhibition processes. Both theoretical and clinical interpretations of these results are discussed.

  10. 钻装机液压防卡钎控制系统设计%Design on Hydraulic Control System of Rod Jamming Prevention for Drilling Rig

    Institute of Scientific and Technical Information of China (English)

    谭正生

    2013-01-01

    为解决钻装机在钻孔作业中的卡钎问题,提出了一种新的防卡钎方案,即在冲击油路中设置三级冲击压力,利用高压冲洗水压排渣的同时,冲洗水压信号控制推进油缸和冲击器先导油路的通断,实现自动预防缓慢卡钎,利用推进压力的突然下降或上升控制冲击器停冲来预防溶洞卡钎,利用钎转压力的上升控制推进油缸后退来预防缓慢卡钎和裂隙卡钎,并设计了相应的液压控制系统.试验结果表明,新液压防卡系统提高了钻装机的防卡钎能力,可实现自动预防和处理各类卡钎问题.%In order to solve the rod jammed problem in the borehole drilling operation of the drilling and loading machine,a new rod jammed prevention plan was provided.That was to set up a three stage impact pressure in the impact oil circuit.When the pressure of the high pressure water flushing was applied to discharge the drilling cuttings,the water flushing pressure signal could be applied to control the on-off of the pushing cylinder and pilot oil circuit of the impactor in order to realize the auto prevention of the slow rod jammed.A sudden down or up of the pushing pressure was applied to control the stop or impact of the impactor to prevent the rod jammed in the karst cave.The rising of the rod rotary pressure was applied to control the backward of the pushing cylinder to prevent the slow rod jamming and crack rod jamming.A relevant hydraulic control system was designed.The test results showed that the new hydraulic rod jamming prevention system could improve the rod jamming prevention capacity of the drilling and loading machine and could realize the automatic prevention and different rod jamming handling.

  11. Developing speed control for a permanent magnet DC motor using rapid control of prototyping techniques

    Directory of Open Access Journals (Sweden)

    Fredy Edimer Hoyos Velasco

    2010-10-01

    Full Text Available Virtually every engineering development for control systems is tested by simulation to predict performance. However, the final use of an algorithm is in its application in a real time system. Development tools using a DSP and Simulink RTW can be performed with real-time simulations (i.e. simulation interacting with physical plant. Testing the speed control loop of a DC motor with permanent magnets has thus been developed to appreciate the considerable advantages offered by these tools.

  12. Design Considerations for Miniaturized Control Moment Gyroscopes for Rapid Retargeting and Precision Pointing of Small Satellites

    OpenAIRE

    Patankar, Kunal; Fitz-Coy, Norman; Roithmayr, Carlos

    2014-01-01

    This paper presents the design as well as characterization of a practical control moment gyroscope (CMG) based attitude control system (ACS) for small satellites in the 15-20 kg mass range performing rapid retargeting and precision pointing maneuvers. The paper focuses on the approach taken in the design of miniaturized CMGs while considering the constraints imposed by the use of commercial off-the-shelf (COTS) components as well as the size of the satellite. It is shown that a hybrid mode is...

  13. 基于嵌入式深孔钻削的液压伺服控制%Hydraulic Servo-control based on Embedded Deep-hole Drilling

    Institute of Scientific and Technical Information of China (English)

    叶琳; 刘昆; 邱龙辉

    2011-01-01

    This paper descrihed the design of embedded hydraulic serva control system of deep-hole drilling based on ARM processor, and mainly analyzed the construct of system and the controlling strategy. The furry algorithm was adopted in the system It is useful with the advantage of small size, low power consumption, high control accuracy and good reliability.%介绍了基于ARM处理器的深孔钻削加工的液压伺服控制嵌入式系统的设计,重点分析了系统的构成和控制的策略等.控制策略采用模糊控制算法实现,充分利用了嵌入式系统具有功耗低、体积小、集成度高等特点,改进了深孔钻削加工的液压伺服控制系统,具有较高的实用价值.

  14. Proceedings of the Twenty-First Water Reactor Safety Information Meeting: Volume 1, Plenary session; Advanced reactor research; advanced control system technology; advanced instrumentation and control hardware; human factors research; probabilistic risk assessment topics; thermal hydraulics; thermal hydraulic research for advanced passive LWRs

    Energy Technology Data Exchange (ETDEWEB)

    Monteleone, S. [Brookhaven National Lab., Upton, NY (United States)] [comp.

    1994-04-01

    This three-volume report contains 90 papers out of the 102 that were presented at the Twenty-First Water Reactor Safety Information Meeting held at the Bethesda Marriott Hotel, Bethesda, Maryland, during the week of October 25--27, 1993. The papers are printed in the order of their presentation in each session and describe progress and results of programs in nuclear safety research conducted in this country and abroad. Foreign participation in the meeting included papers presented by researchers from France, Germany, Japan, Russia, Switzerland, Taiwan, and United Kingdom. The titles of the papers and the names of the authors have been updated and may differ from those that appeared in the final program of the meeting. Individual papers have been cataloged separately. This document, Volume 1 covers the following topics: Advanced Reactor Research; Advanced Instrumentation and Control Hardware; Advanced Control System Technology; Human Factors Research; Probabilistic Risk Assessment Topics; Thermal Hydraulics; and Thermal Hydraulic Research for Advanced Passive Light Water Reactors.

  15. PLC control system of 1600-ton hydraulic pressure machine for abrasive products%1600吨磨料制品液压机的PLC控制

    Institute of Scientific and Technical Information of China (English)

    彭丽芳

    2012-01-01

    针对继电器控制的大型砂轮成型设备,1600吨液压机电气线路复杂和故障率高的状况,采用三菱FX2N系列的可编程逻辑控制器对原有的继电器控制系统进行改造,以软继电器的逻辑运算取代传统继电器的硬线连接;运用PLC的顺序控制设计法,并按照工艺流程,以输出元件的变化设计控制功能图和梯形图,简化了线路;采用硬件软件双重联锁提高了控制系统的可靠性.%In order to remedy the complex electrical circuits and high failure rate with the large wheel molding equipment of 1600 tons hydraulic pressure machines, which were controlled by relay, MITSUBISHI FX2N programmable logical controller was adopted to replace the original relay control system. The traditional relay's hard-wired connections were replaced by logical operation of soft relay. What's more, PLC sequential control method was adopted and circuits were simplified by changing design control function diagram and ladder chart of the output components according to the technological process. The reliability of the control system was improved with double chain of hardware and software.

  16. Load Feedforward and Feedback Compounded Compensation Control for Variable Speed Hydraulic Power Supply%变转速液压动力源的负载前馈反馈复合补偿控制

    Institute of Scientific and Technical Information of China (English)

    李昭; 谷立臣; 马玉

    2016-01-01

    研究了前馈控制和反馈控制的原理及优缺点,提出采用负载前馈反馈复合补偿控制策略实现液压动力源在典型工况下的恒流量控制.以变转速机电液系统实验平台为基础,建立变转速液压动力源的Simulink仿真模型,分别在简单PID反馈控制和复合补偿控制策略下进行仿真和实验,结果证明了该复合补偿控制策略在液压动力源恒流量控制中的可行性和有效性,其抗负载扰动性能明显优于简单PID反馈控制.%The principles and characteristics of feedforward control and feedback control were stud-ied,a method called the load feedforward and feedback compounded compensation control strategy was proposed herein to realize the constant flow control of hydraulic power supply under typical operating conditions.Based on the experimental platform of mechanical-electrical-hydraulic system,a Simulink model of variable speed hydraulic power supply was established.The simulations and experiments were carried out respectively under a simple PID feedback control and a compounded compensation control strategy.The results verify the compounded compensation control strategy is efficient and fea-sible in constant flow control of hydraulic power supply,and the resistance to load disturbance of the compounded compensation control strategy is superior to the simple PID control .

  17. Rapid evolution meets invasive species control: The potential for pesticide resistance in sea lamprey

    Science.gov (United States)

    Dunlop, Erin S.; McLaughlin, Robert L.; Adams, Jean V.; Jones, Michael L.; Birceanu, Oana; Christie, Mark R.; Criger, Lori A.; Hinderer, Julia L.M.; Hollingworth, Robert M.; Johnson, Nicholas; Lantz, Stephen R.; Li, Weiming; Miller, James R.; Morrison, Bruce J.; Mota-Sanchez, David; Muir, Andrew M.; Sepulveda, Maria S.; Steeves, Todd B.; Walter, Lisa; Westman, Erin; Wirgin, Isaac; Wilkie, Michael P.

    2017-01-01

    Rapid evolution of pest, pathogen and wildlife populations can have undesirable effects; for example, when insects evolve resistance to pesticides or fishes evolve smaller body size in response to harvest. A destructive invasive species in the Laurentian Great Lakes, the sea lamprey (Petromyzon marinus) has been controlled with the pesticide 3-trifluoromethyl-4-nitrophenol (TFM) since the 1950s. We evaluated the likelihood of sea lamprey evolving resistance to TFM by (1) reviewing sea lamprey life history and control; (2) identifying physiological and behavioural resistance strategies; (3) estimating the strength of selection from TFM; (4) assessing the timeline for evolution; and (5) analyzing historical toxicity data for evidence of resistance. The number of sea lamprey generations exposed to TFM was within the range observed for fish populations where rapid evolution has occurred. Mortality from TFM was estimated as 82-90%, suggesting significant selective pressure. However, 57 years of toxicity data revealed no increase in lethal concentrations of TFM. Vigilance and the development of alternative controls are required to prevent this aquatic invasive species from evolving strategies to evade control.

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

    CERN Document Server

    Parr, Andrew

    1991-01-01

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

  19. Non-linear control of a hydraulic piezo-valve using a generalised Prandtl-Ishlinskii hysteresis model

    Science.gov (United States)

    Stefanski, Frederik; Minorowicz, Bartosz; Persson, Johan; Plummer, Andrew; Bowen, Chris

    2017-01-01

    The potential to actuate proportional flow control valves using piezoelectric ceramics or other smart materials has been investigated for a number of years. Although performance advantages compared to electromagnetic actuation have been demonstrated, a major obstacle has proven to be ferroelectric hysteresis, which is typically 20% for a piezoelectric actuator. In this paper, a detailed study of valve control methods incorporating hysteresis compensation is made for the first time. Experimental results are obtained from a novel spool valve actuated by a multi-layer piezoelectric ring bender. A generalised Prandtl-Ishlinskii model, fitted to experimental training data from the prototype valve, is used to model hysteresis empirically. This form of model is analytically invertible and is used to compensate for hysteresis in the prototype valve both open loop, and in several configurations of closed loop real time control system. The closed loop control configurations use PID (Proportional Integral Derivative) control with either the inverse hysteresis model in the forward path or in a command feedforward path. Performance is compared to both open and closed loop control without hysteresis compensation via step and frequency response results. Results show a significant improvement in accuracy and dynamic performance using hysteresis compensation in open loop, but where valve position feedback is available for closed loop control the improvements are smaller, and so conventional PID control may well be sufficient. It is concluded that the ability to combine state-of-the-art multi-layer piezoelectric bending actuators with either sophisticated hysteresis compensation or closed loop control provides a route for the creation of a new generation of high performance piezoelectric valves.

  20. The development of a thermal hydraulic feedback mechanism with a quasi-fixed point iteration scheme for control rod position modeling for the TRIGSIMS-TH application

    Science.gov (United States)

    Karriem, Veronica V.

    Nuclear reactor design incorporates the study and application of nuclear physics, nuclear thermal hydraulic and nuclear safety. Theoretical models and numerical methods implemented in computer programs are utilized to analyze and design nuclear reactors. The focus of this PhD study's is the development of an advanced high-fidelity multi-physics code system to perform reactor core analysis for design and safety evaluations of research TRIGA-type reactors. The fuel management and design code system TRIGSIMS was further developed to fulfill the function of a reactor design and analysis code system for the Pennsylvania State Breazeale Reactor (PSBR). TRIGSIMS, which is currently in use at the PSBR, is a fuel management tool, which incorporates the depletion code ORIGEN-S (part of SCALE system) and the Monte Carlo neutronics solver MCNP. The diffusion theory code ADMARC-H is used within TRIGSIMS to accelerate the MCNP calculations. It manages the data and fuel isotopic content and stores it for future burnup calculations. The contribution of this work is the development of an improved version of TRIGSIMS, named TRIGSIMS-TH. TRIGSIMS-TH incorporates a thermal hydraulic module based on the advanced sub-channel code COBRA-TF (CTF). CTF provides the temperature feedback needed in the multi-physics calculations as well as the thermal hydraulics modeling capability of the reactor core. The temperature feedback model is using the CTF-provided local moderator and fuel temperatures for the cross-section modeling for ADMARC-H and MCNP calculations. To perform efficient critical control rod calculations, a methodology for applying a control rod position was implemented in TRIGSIMS-TH, making this code system a modeling and design tool for future core loadings. The new TRIGSIMS-TH is a computer program that interlinks various other functional reactor analysis tools. It consists of the MCNP5, ADMARC-H, ORIGEN-S, and CTF. CTF was coupled with both MCNP and ADMARC-H to provide the

  1. Study on Hydraulic Control System of Rolling Mill Based on LabVIEW%基于LabVIEW的轧钢机液压控制系统研究

    Institute of Scientific and Technical Information of China (English)

    李文华; 张建卓; 李康康

    2012-01-01

    提出一种基于LabVIEW控制高速阀全开占空比,通过LabVIEW实时采集辊缝大小以作为反馈控制,同采集到的温度信号参数一起作为输入量,对轧钢机辊缝进行精确控制的思想.设计了流量控制策略与算法,并开发了LabVIEW程序框图和前面板.测试结果表明:高速阀全开过程中流过高速阀的液压油体积与实际所需的液压油体积拟合精度高,且形成了控制轧钢机辊缝的闭环控制系统.%A thought of controlling roll gap of rolling mill by controlling the duty cycle of full open of high-speed valve and collecting the roll gap as a feedback control together with the temperature signal as the input based on LabVIEW was proposed. The strategy and algorithm were designed. The LabVIEW block diagram and front panel were developed. The experiment shows that the volume of hydraulic oil flowing through the valve in the full open is closed to the practical required. And a closed-loop controlling system of controlling the roll gap of the rolling mill is formed.

  2. Sustainable hydraulic engineering through building with nature

    NARCIS (Netherlands)

    Vriend, de H.J.; Koningsveld, van M.; Aarninkhof, S.G.J.; Vries, de M.B.; Baptist, M.J.

    2015-01-01

    Hydraulic engineering infrastructures are of concern to many people and are likely to interfere with the environment. Moreover, they are supposed to keep on functioning for many years. In times of rapid societal and environmental change this implies that sustainability and adaptability are important

  3. Sustainable hydraulic engineering through building with nature

    NARCIS (Netherlands)

    Vriend, de H.J.; Koningsveld, van M.; Aarninkhof, S.G.J.; Vries, de M.B.; Baptist, M.J.

    2015-01-01

    Hydraulic engineering infrastructures are of concern to many people and are likely to interfere with the environment. Moreover, they are supposed to keep on functioning for many years. In times of rapid societal and environmental change this implies that sustainability and adaptability are important

  4. Simulation of Open Loop and Closed Loop Control of Hydraulic Thrust System of Shield Machine%盾构推进液压系统的开环与闭环仿真控制

    Institute of Scientific and Technical Information of China (English)

    徐尤南; 邓文强

    2014-01-01

    In this paper ,the hydraulic cylinder of shield thrust system is controlled by partition ,to reduce the complexity of the system and ensure the accuracy of control . The simulation analysis on the thrust hydraulic system is carried out by hydraulic simulation software AMESim ,which is controlled by open loop and closed loop respectively .The results show that :compared with open loop control , the pressure-flow closed loop control can effectively reduce the pressure and flow fluctuations , control the pressure and velocity in real time ,the control effect is better .%对盾构推进系统的液压缸采用分区控制,以达到降低系统复杂程度、保证控制精度的目的。用液压仿真软件AM ESim对推进液压系统进行仿真模拟分析,采用开环与闭环两种方式。仿真结果表明,压力流量闭环控制较开环控制可以有效减少压力和流量的波动,实时控制推进压力和推进速度,控制效果较好。

  5. 对电液比例阀几个基本问题的讨论%Discussion on Some Basic Problems of Electro-hydraulic Proportion Control Component

    Institute of Scientific and Technical Information of China (English)

    李运华; 刘源; 何刘宇

    2013-01-01

    电液比例阀是机电一体化液压控制系统的重要控制元件.对其基本原理的弄清有助于对其正确使用并提升电液比例控制系统的性能.文中针对电机械转换元件阀口开度控制原理及特性分析和比例放大器控制信号及PWM信号频率大小对阀口性能的影响进行了分析讨论,获得了一些有意义的结论.%Electro-hydraulic proportional control valve is an important control component to be applied to electro-mechanical integration hydraulic control system. To understand its basic principle can help to appropriately use it and to enhance the performance of the electro-hydraulic proportional control system. Addressed the control principle, modeling and simulation for the valve opening of the proportional valve, and the influence of the control signal of proportion amplifier and the frequency of PWM signal on the control performance of the valve opening, the analysis and discussion were carried out in the paper, and some significant conclusions were acquired.

  6. Adaptive multiparameter control: application to a Rapid Thermal Processing process; Commande Adaptative Multivariable: Application a un Procede de Traitement Thermique Rapide

    Energy Technology Data Exchange (ETDEWEB)

    Morales Mago, S.J.

    1995-12-20

    In this work the problem of temperature uniformity control in rapid thermal processing is addressed by means of multivariable adaptive control. Rapid Thermal Processing (RTP) is a set of techniques proposed for semiconductor fabrication processes such as annealing, oxidation, chemical vapour deposition and others. The product quality depends on two mains issues: precise trajectory following and spatial temperature uniformity. RTP is a fabrication technique that requires a sophisticated real-time multivariable control system to achieve acceptable results. Modelling of the thermal behaviour of the process leads to very complex mathematical models. These are the reasons why adaptive control techniques are chosen. A multivariable linear discrete time model of the highly non-linear process is identified on-line, using an identification scheme which includes supervisory actions. This identified model, combined with a multivariable predictive control law allows to prevent the controller from systems variations. The control laws are obtained by minimization of a quadratic cost function or by pole placement. In some of these control laws, a partial state reference model was included. This reference model allows to incorporate an appropriate tracking capability into the control law. Experimental results of the application of the involved multivariable adaptive control laws on a RTP system are presented. (author) refs

  7. 液压管路流固耦合振动机理及控制研究现状与发展%Research Status and Trends on Fluid-structure Interaction Vibration Mechanism and Control of Hydraulic Pipeline

    Institute of Scientific and Technical Information of China (English)

    权凌霄; 孔祥东; 俞滨; 白欢欢

    2015-01-01

    液压管路系统由于存在多物理场、多尺度及流固耦合非线性等特性,因此其振动特性复杂,且危害很大。又由于工业生产的需求,液压系统正逐步向高压高速和高功重比方向发展,又使得液压管路振动的产生和传播机理变得更为复杂。因此有必要对液压管路的振动机理和控制方法及其研究现状进行总结和分析。阐述液压管路振动的危害性和复杂性,并结合近十年来国内外专家学者对于液压管路振动模型的研究内容,在对考虑多场、多尺度及流固耦合因素影响的液压管路振动机理进行总结的基础上,对液压管路流固耦合线性化动力学模型和非线性振动模型的研究成果进行分析,并对液压管路被动、主动及半主动振动控制的研究进展及研究成果进行评述,在此基础上提出今后液压管路系统流固耦合振动机理及振动控制研究的发展趋势。%Because of the effects of multi-physics, multi-scale and fluid-structure interaction(FSI), the vibration characteristics of the hydraulic pipeline system is not only complex, but also harmful. Due to the demand of the industrial production, the hydraulic system is gradually to develop in the direction of high pressure, high speed and high power ratio, which makes the production and propagation mechanism of hydraulic pipeline vibration become more complex. So it is necessary to summary and analyze the research status of the vibration mechanism and control method of hydraulic pipeline. Harmfulness and complexity of hydraulic pipeline vibration are expounded. Combined with the research on hydraulic pipeline vibration and dynamic model which the domestic and abroad experts are committed to in last ten years, hydraulic piping vibration mechanism, in which effects of multi-physics, multi-scale and FSI is taken into account, is summarized. On this basis, some research such as hydraulic pipeline of FSI linear

  8. Vibration of hydraulic machinery

    CERN Document Server

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

    2013-01-01

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

  9. Rapid Optimal Generation Algorithm for Terrain Following Trajectory Based on Optimal Control

    Institute of Scientific and Technical Information of China (English)

    杨剑影; 张海; 谢邦荣; 尹健

    2004-01-01

    Based on the optimal control theory, a 3-dimensionnal direct generation algorithm is proposed for anti-ground low altitude penetration tasks under complex terrain. By optimizing the terrain following(TF) objective function,terrain coordinate system, missile dynamic model and control vector, the TF issue is turning into the improved optimal control problem whose mathmatical model is simple and need not solve the second order terrain derivative. Simulation results prove that this method is reasonable and feasible. The TF precision is in the scope from 0.3 m to 3.0 m,and the planning time is less than 30 min. This method have the strongpionts such as rapidness, precision and has great application value.

  10. Handbook of hydraulic fluid technology

    CERN Document Server

    Totten, George E

    2011-01-01

    ""The Handbook of Hydraulic Fluid Technology"" serves as the foremost resource for designing hydraulic systems and for selecting hydraulic fluids used in engineering applications. Featuring new illustrations, data tables, as well as practical examples, this second edition is updated with essential information on the latest hydraulic fluids and testing methods. The detailed text facilitates unparalleled understanding of the total hydraulic system, including important hardware, fluid properties, and hydraulic lubricants. Written by worldwide experts, the book also offers a rigorous overview of h

  11. 水下生产设施液压控制仿真系统%Simulation system of subsea hydraulic control kit

    Institute of Scientific and Technical Information of China (English)

    周美珍; 高明; 王宇臣; 杜浩博

    2012-01-01

    为解决水下生产设施液压控制系统设计过程繁琐等问题,将AMESim软件的液压仿真技术与Visual Basic软件设计技术相结合,并将之应用于参数校核和系统仿真分析中.开展了对水下生产液压控制系统的工作原理以及组成元件的分析,建立了辅助软件设计与基本设计思路之间的关系,提出了水下生产设施液压控制仿真系统;在AMESim环境下开发了一套针对水下生产系统的液压元件库,实现了仿真领域的专业性;同时在Visual Basic程序开发上,根据设计人员输入的参数,校核相关标准,并将计算与输入的数据自动导入至AMESim仿真系统中,实现了水下生产系统仿真的过程控制;在中国海洋石油公司的一个项目中对辅助设计软件的功能和操作进行了评估.测试结果表明,针对水下生产设施液压控制仿真系统的设计开发可为相关设计人员提供界面友好、操作清晰的设计平台.%In order to solve the trivial problems in the hydraulic control system design of subsea production, the technology of AMESim's hydraulic simulation and Visual Basic software designing were investigated. After the analysis of the working principle of the system and its components, the relationship between software designing and methodology of the system was established, and the development of the simulation system was raised. The library development of subsea hydraulic components with the help of AMESim was achieved in specificity of simulation. Referred to the aided software designing with Visual Basic, the process control in the subsea production system simulation was succeeded, which covers the computation of required standard based on the users input and loads the parameters into the simulation system in AMESim automatically. The test result for the assistant software in one project of CNOOC indicates that the software provides a convenient platform for designers of subsea production system with

  12. Hyperspectral Imaging as a Rapid Quality Control Method for Herbal Tea Blends

    Directory of Open Access Journals (Sweden)

    Majolie Djokam

    2017-03-01

    Full Text Available In South Africa, indigenous herbal teas are enjoyed due to their distinct taste and aroma. The acclaimed health benefits of herbal teas include the management of chronic diseases such as hypertension and diabetes. Quality control of herbal teas has become important due to the availability of different brands of varying quality and the production of tea blends. The potential of hyperspectral imaging as a rapid quality control method for herbal tea blends from rooibos (Aspalathus linearis, honeybush (Cyclopia intermedia, buchu (Agathosma Betulina and cancerbush (Sutherlandia frutescens was investigated. Hyperspectral images of raw materials and intact tea bags were acquired using a sisuChema shortwave infrared (SWIR hyperspectral pushbroom imaging system (920–2514 nm. Principal component analysis (PCA plots showed clear discrimination between raw materials. Partial least squares discriminant analysis (PLS-DA models correctly predicted the raw material constituents of each blend and accurately determined the relative proportions. The results were corroborated independently using ultra-high performance liquid chromatography coupled to mass spectrometry (UHPLC-MS. This study demonstrated the application of hyperspectral imaging coupled with chemometric modelling as a reliable, rapid and non-destructive quality control method for authenticating herbal tea blends and to determine relative proportions in a tea bag.

  13. High-throughput, temperature-controlled microchannel acoustophoresis device made with rapid prototyping

    DEFF Research Database (Denmark)

    Adams, Jonathan D; Ebbesen, Christian L.; Barnkob, Rune

    2012-01-01

    We report a temperature-controlled microfluidic acoustophoresis device capable of separating particles and transferring blood cells from undiluted whole human blood at a volume throughput greater than 1 L h−1. The device is fabricated from glass substrates and polymer sheets in microscope......-slide format using low-cost, rapid-prototyping techniques. This high-throughput acoustophoresis chip (HTAC) utilizes a temperature-stabilized, standing ultrasonic wave, which imposes differential acoustic radiation forces that can separate particles according to size, density and compressibility. The device...

  14. Determinants of rapid weight gain during infancy: baseline results from the NOURISH randomised controlled trial

    Directory of Open Access Journals (Sweden)

    Mihrshahi Seema

    2011-11-01

    Full Text Available Abstract Background Rapid weight gain in infancy is an important predictor of obesity in later childhood. Our aim was to determine which modifiable variables are associated with rapid weight gain in early life. Methods Subjects were healthy infants enrolled in NOURISH, a randomised, controlled trial evaluating an intervention to promote positive early feeding practices. This analysis used the birth and baseline data for NOURISH. Birthweight was collected from hospital records and infants were also weighed at baseline assessment when they were aged 4-7 months and before randomisation. Infant feeding practices and demographic variables were collected from the mother using a self administered questionnaire. Rapid weight gain was defined as an increase in weight-for-age Z-score (using WHO standards above 0.67 SD from birth to baseline assessment, which is interpreted clinically as crossing centile lines on a growth chart. Variables associated with rapid weight gain were evaluated using a multivariable logistic regression model. Results Complete data were available for 612 infants (88% of the total sample recruited with a mean (SD age of 4.3 (1.0 months at baseline assessment. After adjusting for mother's age, smoking in pregnancy, BMI, and education and infant birthweight, age, gender and introduction of solid foods, the only two modifiable factors associated with rapid weight gain to attain statistical significance were formula feeding [OR = 1.72 (95%CI 1.01-2.94, P = 0.047] and feeding on schedule [OR = 2.29 (95%CI 1.14-4.61, P = 0.020]. Male gender and lower birthweight were non-modifiable factors associated with rapid weight gain. Conclusions This analysis supports the contention that there is an association between formula feeding, feeding to schedule and weight gain in the first months of life. Mechanisms may include the actual content of formula milk (e.g. higher protein intake or differences in feeding styles, such as feeding to schedule

  15. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  16. General Predictive Control of Electro-hydraulic Position Servo System of Precise Straightening Press%精校机电液位置伺服系统的广义预测控制

    Institute of Scientific and Technical Information of China (English)

    陈永新; 柯尊忠; 伍德林

    2011-01-01

    The discrete mathematical modal of electro-hydraulic position servo system for precise straightening press was built.A method of general predictive control of the electro-hydraulic position servo system of the precise straightening press was presented by applying theory of general predictive control.The simulation result shows that control precision and tracking performance of the system are improved greatly.%建立精密校直液压机(精校机)电液位置伺服系统离散数学模型,将广义预测控制理论应用于精校机电液位置伺服系统中,提出精校机电液位置伺服系统的广义预测控制方法.仿真结果表明,系统的跟踪性能良好、控制精度提高.

  17. Analysis of clinically important factors on the performance of advanced hydraulic, microprocessor-controlled exo-prosthetic knee joints based on 899 trial fittings

    Science.gov (United States)

    Hahn, Andreas; Lang, Michael; Stuckart, Claudia

    2016-01-01

    Abstract The objective of this work is to evaluate whether clinically important factors may predict an individual's capability to utilize the functional benefits provided by an advanced hydraulic, microprocessor-controlled exo-prosthetic knee component. This retrospective cross-sectional cohort analysis investigated the data of above knee amputees captured during routine trial fittings. Prosthetists rated the performance indicators showing the functional benefits of the advanced maneuvering capabilities of the device. Subjects were asked to rate their perception. Simple and multiple linear and logistic regression was applied. Data from 899 subjects with demographics typical for the population were evaluated. Ability to vary gait speed, perform toileting, and ascend stairs were identified as the most sensitive performance predictors. Prior C-Leg users showed benefits during advanced maneuvering. Variables showed plausible and meaningful effects, however, could not claim predictive power. Mobility grade showed the largest effect but also failed to be predictive. Clinical parameters such as etiology, age, mobility grade, and others analyzed here do not suffice to predict individual potential. Daily walking distance may pose a threshold value and be part of a predictive instrument. Decisions based solely on single parameters such as mobility grade rating or walking distance seem to be questionable. PMID:27828871

  18. Analysis of clinically important factors on the performance of advanced hydraulic, microprocessor-controlled exo-prosthetic knee joints based on 899 trial fittings.

    Science.gov (United States)

    Hahn, Andreas; Lang, Michael; Stuckart, Claudia

    2016-11-01

    The objective of this work is to evaluate whether clinically important factors may predict an individual's capability to utilize the functional benefits provided by an advanced hydraulic, microprocessor-controlled exo-prosthetic knee component.This retrospective cross-sectional cohort analysis investigated the data of above knee amputees captured during routine trial fittings. Prosthetists rated the performance indicators showing the functional benefits of the advanced maneuvering capabilities of the device. Subjects were asked to rate their perception. Simple and multiple linear and logistic regression was applied.Data from 899 subjects with demographics typical for the population were evaluated. Ability to vary gait speed, perform toileting, and ascend stairs were identified as the most sensitive performance predictors. Prior C-Leg users showed benefits during advanced maneuvering. Variables showed plausible and meaningful effects, however, could not claim predictive power. Mobility grade showed the largest effect but also failed to be predictive.Clinical parameters such as etiology, age, mobility grade, and others analyzed here do not suffice to predict individual potential. Daily walking distance may pose a threshold value and be part of a predictive instrument. Decisions based solely on single parameters such as mobility grade rating or walking distance seem to be questionable.

  19. Model reduction and temperature uniformity control for rapid thermal chemical vapor deposition reactors

    Science.gov (United States)

    Theodoropoulou, Artemis-Georgia

    The consideration of Rapid Thermal Processing (RTP) in semiconductor manufacturing has recently been increasing. As a result, control of RTP systems has become of great importance since it is expected to help in addressing uniformity problems that, so far, have been obstructing the acceptance of the method. The spatial distribution appearing in RTP models necessitates the use of model reduction in order to obtain models of a size suitable for use in control algorithms. This dissertation addresses model reduction as well as control issues for RTP systems. A model of a three-zone Rapid Thermal Chemical Vapor Deposition (RTCVD) system is developed to study the effects of spatial wafer temperature patterns on polysilicon deposition uniformity. A sequence of simulated runs is performed, varying the lamp power profiles so that different wafer temperature modes are excited. The dominant spatial wafer thermal modes are extracted via Proper Orthogonal Decomposition and subsequently used as a set of trial functions to represent both the wafer temperature and deposition thickness. A collocation formulation of Galerkin's method is used to discretize the original modeling equations, giving a low-order model which loses little of the original, high-order model's fidelity. We make use of the excellent predictive capabilities of the reduced model to optimize power inputs to the lamp banks to achieve a desired polysilicon deposition thickness at the end of a run with minimal deposition spatial nonuniformity. Since the results illustrate that the optimization procedure benefits from the use of the reduced-order model, we further utilize the reduced order model for real time Model Based Control. The feedback controller is designed using the Internal Model Control (IMC) structure especially modified to handle systems described by ordinary differential and algebraic equations. The IMC controller is obtained using optimal control theory on singular arcs extended for multi input systems

  20. Application of multi-objective controller to optimal tuning of PID gains for a hydraulic turbine regulating system using adaptive grid particle swam optimization.

    Science.gov (United States)

    Chen, Zhihuan; Yuan, Yanbin; Yuan, Xiaohui; Huang, Yuehua; Li, Xianshan; Li, Wenwu

    2015-05-01

    A hydraulic turbine regulating system (HTRS) is one of the most important components of hydropower plant, which plays a key role in maintaining safety, stability and economical operation of hydro-electrical installations. At present, the conventional PID controller is widely applied in the HTRS system for its practicability and robustness, and the primary problem with respect to this control law is how to optimally tune the parameters, i.e. the determination of PID controller gains for satisfactory performance. In this paper, a kind of multi-objective evolutionary algorithms, named adaptive grid particle swarm optimization (AGPSO) is applied to solve the PID gains tuning problem of the HTRS system. This newly AGPSO optimized method, which differs from a traditional one-single objective optimization method, is designed to take care of settling time and overshoot level simultaneously, in which a set of non-inferior alternatives solutions (i.e. Pareto solution) is generated. Furthermore, a fuzzy-based membership value assignment method is employed to choose the best compromise solution from the obtained Pareto set. An illustrative example associated with the best compromise solution for parameter tuning of the nonlinear HTRS system is introduced to verify the feasibility and the effectiveness of the proposed AGPSO-based optimization approach, as compared with two another prominent multi-objective algorithms, i.e. Non-dominated Sorting Genetic Algorithm II (NSGAII) and Strength Pareto Evolutionary Algorithm II (SPEAII), for the quality and diversity of obtained Pareto solutions set. Consequently, simulation results show that this AGPSO optimized approach outperforms than compared methods with higher efficiency and better quality no matter whether the HTRS system works under unload or load conditions.

  1. A retrievable rescue stent graft and radiofrequency positioning for rapid control of noncompressible hemorrhage.

    Science.gov (United States)

    Chun, Youngjae; Cho, Sung Kwon; Clark, William C; Wagner, William R; Gu, Xinzhu; Tevar, Amit D; McEnaney, Ryan M; Tillman, Bryan W

    2017-08-01

    Noncompressible hemorrhage of the torso remains a challenging surgical dilemma. Stent graft repair requires endovascular expertise, imaging, and inventory that are not available within the critical window of massive hemorrhage. We developed a retrievable stent graft for rapid hemorrhage. We further investigated a radiofrequency (RF) positioning approach as a possible alternative to the logistics of fluoroscopy. A retrievable stent graft was constructed with a novel "petal and stem" design from nitinol and covered with a sleeve of electrospun polyurethane. The stent graft was tested using an in vitro model of simulated hemorrhage. Next, the stent graft was examined in vivo using a porcine model of noncompressible hemorrhage. The stent was examined for hemorrhage control in a porcine model of either aortic or caval injury. An RF reader was assembled from an Arduino processor while RF tags were affixed to the ends of the stent graft. Detection accuracy of a handheld RF wand for an RF tag was quantified both in vitro and through tissue. The retrievable RESCUEstent graft was deployed within minutes and rapidly controlled traumatic hemorrhage angiographically in both aortic injury (n = 3) and caval injury (n = 2). Stent grafts were easily recaptured in both models in under 15 seconds. The LED light of a handheld RF detector illuminated when positioned directly over an RF tag. The RF detection approach revealed positioning accuracy to within 1 cm of the intended target, despite tissue interference. This study demonstrates the rapid deployment and retrieval of a RESCUE stent graft as well as the ability to tamponade injuries of the aorta and cava. In addition, this study demonstrates the feasibility of RF tags to guide stent placement through tissue. More rigorous models are needed to define the effectiveness of this approach in the setting of vascular injury and shock.

  2. Rapid fabrication method of a microneedle mold with controllable needle height and width.

    Science.gov (United States)

    Lin, Yen-Heng; Lee, I-Chi; Hsu, Wei-Chieh; Hsu, Ching-Hong; Chang, Kai-Ping; Gao, Shao-Syuan

    2016-10-01

    The main issue of transdermal drug delivery is that macromolecular drugs cannot diffuse through the stratum corneum of skin. Many studies have pursued micro-sized needles encapsulated with drugs to overcome this problem, as these needles can pierce the stratum corneum and allow drugs to enter the circulatory system of the human body. However, most microneedle fabrication processes are time-consuming and require expensive equipment. In this study, we demonstrate a rapid method for fabricating a microneedle mold using drawing lithography and a UV-cured resin. The mold was filled with a water-soluble material, polyvinylpyrrolidone (PVP), which was then demolded to produce a water-soluble microneedle array. The results of an in vitro skin insertion test using PVP microneedles and pig ear skin demonstrated the feasibility of the microneedle mold. In addition, by controlling the viscosity of the UV-cured resin through various heat treatments, microneedles with different heights and aspect ratios were produced. Compared with other methods, this technology significantly simplifies and accelerates the mold fabrication process. In addition, the required equipment is relatively simple and inexpensive. Through this technology, we can rapidly fabricate microneedle molds with controllable dimensions for various applications.

  3. Vector-borne disease problems in rapid urbanization: new approaches to vector control.

    Science.gov (United States)

    Knudsen, A B; Slooff, R

    1992-01-01

    Owing to population growth, poor levels of hygiene, and increasing urban poverty, the urban environment in many developing countries is rapidly deteriorating. Densely packed housing in shanty towns or slums and inadequate drinking-water supplies, garbage collection services, and surface-water drainage systems combine to create favourable habitats for the proliferation of vectors and reservoirs of communicable diseases. As a consequence, vector-borne diseases such as malaria, lymphatic filariasis and dengue are becoming major public health problems associated with rapid urbanization in many tropical countries. The problems in controlling these diseases and eliminating vectors and pests can be resolved by decision-makers and urban planners by moving away from the concept of "blanket" applications of pesticides towards integrated approaches. Sound environmental management practices and community education and participation form the mainstay of some of the most outstanding successes in this area. On the basis of these examples, it is argued that the municipal authorities need to apply a flexible methodology, which must be based on the possibilities of mobilizing community resources, with minimal reliance on routine pesticidal spraying. In this way, vector control becomes a by-product of human development in the city environment. This is now a true challenge.

  4. Robust attitude control for rapid multi-target tracking in spacecraft formation flying

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    A robust attitude tracking control scheme for spacecraft formation flying is presented.The leader spacecraft with a.rapid mobile antenna and a camera is modeled.While the camera is tracking the ground target,the antenna is tracking the follower spacecraft.By an angular velocity constraint and an angular constraint,two methods are proposed to compute the reference attitude profiles of the camera and antenna,respectively.To simplify the control design problem,this paper first derives the desired inverse system (DIS),which can convert the attitude tracking problem of 3D space into the regulator problem.Based on DIS and sliding mode control (SMC),a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance.By Lyapunov stability theory,the closed loop system stability can be achieved.The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.

  5. Effects of temporal and spatial cueing on anticipatory postural control in a rapid interceptive task.

    Science.gov (United States)

    Huntley, Andrew H; Zettel, John L

    2015-04-10

    Balance disruptions induced by voluntary focal arm actions are accommodated via anticipatory postural adjustments, but how this coordinated control is organized by the central nervous system remains unclear: either as combined or separate streams of postural-focal motor commands. For example, a focal arm task that dictates extremely tight temporal constraints may induce a focal response in absence of an anticipatory postural adjustment, providing evidence for separate focal-postural control streams. This study sought to probe the organization of focal-postural control via an interceptive task with very little available response time, and to determine whether focal-postural coordination depends on temporal and/or spatial foreknowledge of the task. Ten healthy young adults (5 males and 5 females; 20-29 years) reacted to catch a ball when standing under four conditions of temporal and spatial foreknowledge. Response onset was characterized by muscle activity from both postural and focal arm muscles. The catching task resulted in rapid muscle responses, but there was no difference between the fastest focal and postural muscle onsets. As expected, temporal cuing resulted in faster focal and postural onsets compared to spatial and control cuing trials. The accompaniment and time-locking of focal and postural muscle onsets, suggests that postural-focal coupling remains intact even under external time constraints and provides evidence for a single combined command stream of postural and focal control under such circumstances.

  6. Design and fabrication of magnetically functionalized flexible micropillar arrays for rapid and controllable microfluidic mixing

    KAUST Repository

    Zhou, BingPu

    2015-03-25

    Magnetically functionalized PDMS-based micropillar arrays have been successfully designed, fabricated and implanted for controllable microfluidic mixing. The arrangement of PDMS micropillar arrays inside the microchannel can be flexibly controlled by an external magnetic field. As a consequence, the flow fields inside the microchannel can be regulated at will via magnetic activation conveniently. When a microchannel is implanted with such micropillar arrays, two microstreams can be mixed easily and controllably upon the simple application of an on/off magnetic signal. Mixing efficiencies based on micropillar arrays with different densities were investigated and compared. It was found that micropillar arrays with higher density (i.e. smaller pillar pitch) would render better mixing performance. Our microfluidic system is capable of generating highly reproducible results within many cycles of mixing/non-mixing conversion. We believe that the simple mixing-triggering method together with rapid and controllable mixing control will be extraordinarily valuable for various biological or chemical applications in the future. This journal is © The Royal Society of Chemistry 2015.

  7. History of malaria control in Tajikistan and rapid malaria appraisal in an agro-ecological setting

    Directory of Open Access Journals (Sweden)

    Utzinger Jürg

    2008-10-01

    Full Text Available Abstract Background Reported malaria cases in rice growing areas in western Tajikistan were at the root of a rapid appraisal of the local malaria situation in a selected agro-ecological setting where only scarce information was available. The rapid appraisal was complemented by a review of the epidemiology and control of malaria in Tajikistan and Central Asia from 1920 until today. Following a resurgence in the 1990s, malaria transmission has been reduced considerably in Tajikistan as a result of concerted efforts by the government and international agencies. The goal for 2015 is transmission interruption, with control interventions and surveillance currently concentrated in the South, where foci of Plasmodium vivax and Plasmodium falciparum persist. Methods The rapid malaria appraisal was carried out in six communities of irrigated rice cultivation during the peak of malaria transmission (August/September 2007 in western Tajikistan. In a cross-sectional survey, blood samples were taken from 363 schoolchildren and examined for Plasmodium under a light microscope. A total of 56 farmers were interviewed about agricultural activities and malaria. Potential Anopheles breeding sites were characterized using standardized procedures. A literature review on the epidemiology and control of malaria in Tajikistan was conducted. Results One case of P. vivax was detected among the 363 schoolchildren examined (0.28%. The interviewees reported to protect themselves against mosquito bites and used their own concepts on fever conditions, which do not distinguish between malaria and other diseases. Three potential malaria vectors were identified, i.e. Anopheles superpictus, Anopheles pulcherrimus and Anopheles hyrcanus in 58 of the 73 breeding sites examined (79.5%. Rice paddies, natural creeks and man-made ponds were the most important Anopheles habitats. Conclusion The presence of malaria vectors and parasite reservoirs, low awareness of, and protection against

  8. 超磁致伸缩电液伺服阀驱动机构控制系统设计%Design of Control System of Giant Magnetostrictive Electro-hydraulic Servo Valve Driven Machine

    Institute of Scientific and Technical Information of China (English)

    杨朝舒; 何忠波; 李冬伟; 薛光明

    2014-01-01

    为了实现超磁致伸缩电液伺服阀的快速、准确控制,论述了基于PWM控制的超磁致伸缩电液伺服阀的基本结构和工作原理,设计了基于PicoScope2203数字示波器和STC89C51单片机的超磁致伸缩材料电液伺服阀驱动机构的控制系统。结果表明:该控制系统具有控制精度高、控制迅速、集成度高、操作便捷等特点。%In order to achieve the speedy and precision control of electro⁃hydraulic servo valve based on giant magnetostrictive material, the basic structure and working principle of a kind of Electro⁃hydraulic Servo Valve based on giant magnetostrictive material with PWM control was discussed. A control system for the giant magnetostrictive electro⁃hydraulic servo valve driven machine based on PicoScope2203 Digital Oscilloscope and STC89C51 series MCU was designed. The results show that the control system has properties of high speed and precision, highly integrated and convenient for operation, and etc.

  9. Power management in hydraulically actuated mobile equipment

    DEFF Research Database (Denmark)

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

    2008-01-01

    The focus of the current paper is on the control of hydraulic systems when utilizing the advances that electronic control may bring with regard to power management, prioritized flow sharing and anti-stall, arising from being able to control both pump, valves and engine electronically. A simple mo...

  10. Investigating patterns and controls of groundwater up-welling in a lowland river by combining Fibre-optic Distributed Temperature Sensing with observations of vertical hydraulic gradients

    Directory of Open Access Journals (Sweden)

    S. Krause

    2012-06-01

    Full Text Available This paper investigates the patterns and controls of aquifer–river exchange in a fast-flowing lowland river by the conjunctive use of streambed temperature anomalies identified with Fibre-optic Distributed Temperature Sensing (FO-DTS and observations of vertical hydraulic gradients (VHG.

    FO-DTS temperature traces along this lowland river reach reveal discrete patterns with "cold spots" indicating groundwater up-welling. In contrast to previous studies using FO-DTS for investigation of groundwater–surface water exchange, the fibre-optic cable in this study was buried in the streambed sediments, ensuring clear signals despite fast flow and high discharges. During the observed summer baseflow period, streambed temperatures in groundwater up-welling locations were found to be up to 1.5 °C lower than ambient streambed temperatures. Due to the high river flows, the cold spots were sharp and distinctly localized without measurable impact on down-stream surface water temperature.

    VHG patterns along the stream reach were highly variable in space, revealing strong differences even at small scales. VHG patterns alone are indicators of both, structural heterogeneity of the stream bed as well as of the spatial heterogeneity of the groundwater–surface water exchange fluxes and are thus not conclusive in their interpretation. However, in combination with the high spatial resolution FO-DTS data we were able to separate these two influences and clearly identify locations of enhanced exchange, while also obtaining information on the complex small-scale streambed transmissivity patterns responsible for the very discrete exchange patterns. The validation of the combined VHG and FO-DTS approach provides an effective strategy for analysing drivers and controls of groundwater–surface water exchange, with implications for the quantification of biogeochemical cycling and contaminant transport at aquifer–river interfaces.

  11. 挖掘机正流量泵控液压系统的特性分析%Analysis on positive flow pump control system of hydraulic excavator

    Institute of Scientific and Technical Information of China (English)

    贾文华; 殷晨波; 曹东辉; 陈克雷

    2011-01-01

    采用泵控挖掘机液压系统特性分析方法,在分析泵的输出特性的基础上,给出确定先导压力信号和控制泵排量的方法,并对泵的输出特性进行了仿真和实验研究.结果表明:正流量控制下,泵的排量由执行器流量需求和油泵的p-Q曲线动态实时调节,系统具有良好的负载流量适应性和负载敏感性,其液压系统中不存在负压,只有约0.5 MPa的背压,回油功率损失几乎为0.%Some problems were studied for the positive flow control of pump system of hydraulic excavator. Based on the analysis of pump output characteristics, the control method for pilot pressure and the pump displacement was given. The pump output characteristics were investigated by simulation and experiment. Results showed that flow was adjusted by flow required by actuator and the p - Q curve of main pump. For the positive system, the excavator had good load flow adaptability and load sensitivity. The power loss of returning oil path was almost zero. In the returning path, the negative pressure was only 0.5 Mpa for the positive system.

  12. FEMA DFIRM Hydraulic Structures

    Data.gov (United States)

    Minnesota Department of Natural Resources — This layer and accompanying attribute table is required whenever hydraulic structures are shown in the flood profile. It is also required if levees are shown on the...

  13. The Analysis of Bailing Hydraulic Control System for a Large Extinguishing Aircraft%某灭火型飞机汲水液压控制系统分析

    Institute of Scientific and Technical Information of China (English)

    胡刚; 裴沛

    2015-01-01

    该文是对某大型灭火飞机汲水液压控制系统的设计进行分析,通过对汲水斗收放时间、收放同步性及外载荷等的计算分析,验证了汲水液压控制系统设计的可行性。%This article is designed to analyze bailing hydraulic control system for a large fire-fighting aircraft, by the time of the bailing buck-et retractable, retractable synchronization and external load calculation and analysis to verify bailing hydraulic control system Feasibility of design.

  14. Constant-Pressure Hydraulic Pump

    Science.gov (United States)

    Galloway, C. W.

    1982-01-01

    Constant output pressure in gas-driven hydraulic pump would be assured in new design for gas-to-hydraulic power converter. With a force-multiplying ring attached to gas piston, expanding gas would apply constant force on hydraulic piston even though gas pressure drops. As a result, pressure of hydraulic fluid remains steady, and power output of the pump does not vary.

  15. Rapid alterations of cell cycle control proteins in human T lymphocytes in microgravity

    Directory of Open Access Journals (Sweden)

    Thiel Cora S

    2012-01-01

    Full Text Available Abstract In our study we aimed to identify rapidly reacting gravity-responsive mechanisms in mammalian cells in order to understand if and how altered gravity is translated into a cellular response. In a combination of experiments using "functional weightlessness" provided by 2D-clinostats and real microgravity provided by several parabolic flight campaigns and compared to in-flight-1g-controls, we identified rapid gravity-responsive reactions inside the cell cycle regulatory machinery of human T lymphocytes. In response to 2D clinorotation, we detected an enhanced expression of p21 Waf1/Cip1 protein within minutes, less cdc25C protein expression and enhanced Ser147-phosphorylation of cyclinB1 after CD3/CD28 stimulation. Additionally, during 2D clinorotation, Tyr-15-phosphorylation occurred later and was shorter than in the 1 g controls. In CD3/CD28-stimulated primary human T cells, mRNA expression of the cell cycle arrest protein p21 increased 4.1-fold after 20s real microgravity in primary CD4+ T cells and 2.9-fold in Jurkat T cells, compared to 1 g in-flight controls after CD3/CD28 stimulation. The histone acetyltransferase (HAT inhibitor curcumin was able to abrogate microgravity-induced p21 mRNA expression, whereas expression was enhanced by a histone deacetylase (HDAC inhibitor. Therefore, we suppose that cell cycle progression in human T lymphocytes requires Earth gravity and that the disturbed expression of cell cycle regulatory proteins could contribute to the breakdown of the human immune system in space.

  16. Analysis and Comparison for Single-chamber and Dual-chamber Servo Hydraulic Control Loops of Coiler Pinch Roll%卷取机夹送辊液压伺服单、双腔控制回路的分析与比较

    Institute of Scientific and Technical Information of China (English)

    王渝

    2016-01-01

    The pinch roll before coiler is the important equipment in hot strip mill.Its performance directly affects the quality of coil.The principles of the pinch roller and the single-chamber and dual-chamber servo hydraulic control loops were analyzed.The simu-lation models of the single-chamber and dual-chamber servo hydraulic control loops were established.Under the same conditions of sim-ulation analysis, by comparing the position and pressure closed-loop simulation curves with the actual production curves, the conclusion is that the stability of the single-chamber control loop is better than that of the dual-chamber control loop, but the rapid response of the dual-chamber control loop is better than that of the single-chamber control loop.%卷取机前夹送辊是热轧带钢生产线上的一个重要设备,该设备的性能直接影响着卷材的卷取质量。通过分析卷取机前夹送辊工作原理及液压伺服单、双腔两种控制回路,建立单、双腔液压伺服控制回路仿真模型,在相同条件下进行仿真分析,通过对位置和压力闭环仿真曲线和实际生产曲线的对比分析,得出单腔控制回路的稳定性优于双腔控制回路、而双腔控制回路的快速性优于单腔控制回路的结论。

  17. Hydraulic Conductivity Estimate via Tracer Test and Ensemble Kalman Filter Data Assimilation: Theoretical and Numerical Fundamentals

    Science.gov (United States)

    Crestani, E.; Camporese, M.; Salandin, P.

    2011-12-01

    Hydraulic properties of natural aquifers, such as porosity, hydraulic conductivity, and storativity, exhibit an erratic spatial variability at different scales that is difficult to recognize without expensive in situ sampling campaigns, laboratory analyses, and, when available, spatially distributed pumping tests. Nevertheless, the importance of the heterogeneous structure of natural formations on solute transport is well recognized, being the non-Fickian evolution of contaminant plumes and the relevant dispersive phenomena controlled by the variability of the hydraulic conductivity K at the local scale. Tracer test analyses have been widely adopted to identify the complex distribution of in situ hydraulic properties. In particular, the use of geophysical methods like the borehole Electrical Resistivity Tomography (ERT) have been in rapid increase, due to their potential to accurately describe the spatio-temporal evolution of the injected solute. Under the assumptions that the solute spreads as a passive tracer and with high values of the Peclet number, the plume evolution is controlled by the porosity and the spatial distribution of hydraulic conductivity. Combining the Lagrangian formulation of transport and the ensemble Kalman filter (EnKF) data assimilation technique, the purpose of this study is to infer the spatial distribution of K at the local scale from a sequence of time-lapse concentration imaging. The capabilities of the proposed approach are investigated simulating various assimilation experiments via synthetic tracer tests in a three-dimensional finite domain reproducing a heterogeneous aquifer. In a first scenario, all the available concentration measurements are assimilated and the entire hydraulic conductivity field is updated, while in the remaining scenarios the K values are updated only in a limited number of nodes by assimilating the concentrations in these same nodes, the hydraulic conductivity in the rest of the domain being the result of a

  18. Rapid processing of haptic cues for postural control in blind subjects.

    Science.gov (United States)

    Schieppati, Marco; Schmid, Monica; Sozzi, Stefania

    2014-07-01

    Vision and touch rapidly lead to postural stabilization in sighted subjects. Is touch-induced stabilization more rapid in blind than in sighted subjects, owing to cross-modal reorganization of function in the blind? We estimated the time-period elapsing from onset of availability of haptic support to onset of lateral stabilization in a group of early- and late-onset blinds. Eleven blind (age 39.4 years±11.7SD) and eleven sighted subjects (age 30.0 years±10.0SD), standing eyes closed with feet in tandem position, touched a pad with their index finger and withdrew the finger from the pad in sequence. EMG of postural muscles and displacement of centre of foot pressure were recorded. The task was repeated fifty times, to allow statistical evaluation of the latency of EMG and sway changes following the haptic shift. Steady-state sway (with or without contact with pad, no haptic shift) did not differ between blind and sighted. On adding the haptic stimulus, EMG and sway diminished in both groups, but at an earlier latency (by about 0.5 s) in the blinds (p haptic stimulus was withdrawn, both groups increased EMG and sway at equally short delays. Blinds are rapid in implementing adaptive postural modifications when granted an external haptic reference. Fast processing of the stabilizing haptic spatial-orientation cues may be favoured by cortical plasticity in blinds. These findings add new information to the field of sensory-guided dynamic control of equilibrium in man. Copyright © 2013 International Federation of Clinical Neurophysiology. Published by Elsevier Ireland Ltd. All rights reserved.

  19. 25/17MN双动厚板冲压液压机的电气控制系统%Electric control system of 25/17MN double motion hydraulic press punching thick plate

    Institute of Scientific and Technical Information of China (English)

    谭利红

    2001-01-01

    Electric control system of 25/17MN double motion hydraulic press punching thick plate and parameters operation manner have been introduced with analysis of graphic interface reality.%介绍了25/17MN双动厚板冲压液压机的电气控制系统及其系统中的参数处理方式,并对图形界面的实时性进行了分析。

  20. Two-axis hydraulic joint for high speed, heavy lift robotic operations

    Energy Technology Data Exchange (ETDEWEB)

    Vaughn, M.R.; Robinett, R.D.; Phelan, J.R.; VanZuiden, D.M.

    1994-04-01

    A hydraulically driven universal joint was developed for a heavy lift, high speed nuclear waste remediation application. Each axis is driven by a simple hydraulic cylinder controlled by a jet pipe servovalve. Servovalve behavior is controlled by a force feedback control system, which damps the hydraulic resonance. A prototype single joint robot was built and tested. A two joint robot is under construction.

  1. 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

  2. Variation in reach-scale hydraulic conductivity of streambeds

    Science.gov (United States)

    Stewardson, M. J.; Datry, T.; Lamouroux, N.; Pella, H.; Thommeret, N.; Valette, L.; Grant, S. B.

    2016-04-01

    Streambed hydraulic conductivity is an important control on flow within the hyporheic zone, affecting hydrological, ecological, and biogeochemical processes essential to river ecosystem function. Despite many published field measurements, few empirical studies examine the drivers of spatial and temporal variations in streambed hydraulic conductivity. Reach-averaged hydraulic conductivity estimated for 119 surveys in 83 stream reaches across continental France, even of coarse bed streams, are shown to be characteristic of sand and finer sediments. This supports a model where processes leading to the accumulation of finer sediments within streambeds largely control hydraulic conductivity rather than the size of the coarse bed sediment fraction. After describing a conceptual model of relevant processes, we fit an empirical model relating hydraulic conductivity to candidate geomorphic and hydraulic drivers. The fitted model explains 72% of the deviance in hydraulic conductivity (and 30% using an external cross-validation). Reach hydraulic conductivity increases with the amplitude of bedforms within the reach, the bankfull channel width-depth ratio, stream power and upstream catchment erodibility but reduces with time since the last streambed disturbance. The correlation between hydraulic conductivity and time since a streambed mobilisation event is likely a consequence of clogging processes. Streams with a predominantly suspended load and less frequent streambed disturbances are expected to have a lower streambed hydraulic conductivity and reduced hyporheic fluxes. This study suggests a close link between streambed sediment transport dynamics and connectivity between surface water and the hyporheic zone.

  3. 基于Matlab/Simulink的高速液压动力系统闭环控制研究%Research on Closed Loop Control for High-speed Hydraulic Power System Based on Matlab/Simulink

    Institute of Scientific and Technical Information of China (English)

    王继哲; 赵月琴; 张士卫

    2012-01-01

    High-speed hydraulic power system applied in some mechanical ejector is used to lauch load fastly. By the designed closed loop control system, ejection parameters were controlled within a certain range. Matlab/Simulink was applied to conduct theoretical analysis, modeling and simulation of the control system based on high-speed hydraulic power system design scheme. The simulation results were analyzed and the reasons were found. It provides theoretical basis for the engineering realization of high-speed hydraulic power system.%应用于某机械弹射器的高速液压动力系统用于负载的高速弹射,通过设计的闭环控制系统可实现一定范围内的弹射参数控制.在高速液压动力系统设计方案的基础上,运用Matlab/Simulink对控制系统进行了理论分析、建模和仿真.对仿真结果进行分析,找出影响仿真结果的原因,为高速液压动力系统的工程实现提供理论依据.

  4. 油压机械臂及手系统递归神经网络建模与位置控制%Recurrent Neural Networks Modeling and Position Control of Hydraulic Manipulator and Hand

    Institute of Scientific and Technical Information of China (English)

    邵辉; 野波健藏

    2012-01-01

    The model and inverse model of angular velocity of a hydraulic manipulator and a hydraulic robotic hand are established using recurrent neural networks, providing an effective so- lution to the modeling and control of dynamic hydraulic systems. The inverse models are used as position controllers of the manipulator and the hand. Experiments show that the models are close enough to the system dynamics with accuracy of position control satisfying the requirements.%为解决多关节油压机械臂及手系统动态参数的时变性,应用递归神经网络(RNN)建立了油压机械臂及手的速度模型及逆模型,并用逆模型作为臂及手各关节的控制器实现了位置控制。实验结果表明,所建模型性能接近系统性能,位置控制精度也能达到控制目标的要求。

  5. Oil Film Compensation Control of Hydraulic AGC System in Tandem Cold Rolling Mill%冷连轧机液压AGC系统油膜补偿控制

    Institute of Scientific and Technical Information of China (English)

    孙孟辉; 王益群

    2011-01-01

    Since the request to the quality of cold rolling sheet strips is higher, the hydraulic AGC ( Automatic Gauge Control) has become the indispensable means which improves the product precision of cold rolling strips. However, to the tandem cold rolling mill which backup roll adopts the oil film bearing, the thickness of oil film changes with different rolling force and rolling velocity, which influences the exit thickness of strips and brings the thickness deviation. Especially for the tandem cold rolling mill, the accumulative deviation of every stand enlarges more the deviation of steel product. The oil film compensation model, which adapted to the practical control, was regressed from the data measured from production locale, aiming at one 5-stand tandem cold rolling mill as object. The control strategy was brought forward, which adapted to the distributed computer control. All of them were applied in the practical rolling process for compensation of changes in thickness of oil film. The experimental result indicates that length of out-toler-ance and value of out-tolerance between head and tail of steel product are reduced notably.%由于对冷轧薄板质量要求的提高,液压AGC已经成为提高冷轧带钢成品精度必不可少的手段.然而对于支撑辊采用油膜轴承的冷连轧机来说,其轴承油膜厚度随着轧制力和轧制速度的变化而变化,这将影响轧件的轧出厚度,造成厚差.尤其对冷连轧机,各机架的累积误差会使成品带的超差更加严重.以某五机架冷连轧机为研究对象,由生产现场实测数据回归出适合于实际控制的油膜补偿模型,提出适合于分布式计算机控制的控制策略,并将其应用于实际轧制过程中对油膜厚度变化进行补偿.实验结果表明:加入油膜补偿控制后,成品带钢厚差带头带尾超差段有较为显著的减少,且超差值也有所降低.

  6. Rapid Synthesis of Size-controlled Gold Nanoparticles by Complex Intramolecular Photoreduction

    Institute of Scientific and Technical Information of China (English)

    DONG Shou-an; YANG Sheng-chun; TANG Chun

    2007-01-01

    A rapid synthesis of size-controlled gold nanoparticles was proposed. The method is based on the sensitive intramolecular photoreduction reaction of Fe( Ⅲ )-EDTA complex in chloroacetic acid-sodium acetate buffer solution,where Fe(Ⅱ)-EDTA complex generated by photo-promotion acts as a reductant of AuCl4- ions. Gold nanoparticles formed were stabilized by EDTA ligand or other protective agents added. As a result, well-dispersed gold nanoparticles with an average diameter range of 6.7 to 50. 9 nm were obtained. According to the characterizations by the UV spectrum and TEM, the intramolecular charge transfer of the excited states of complex Fe(Ⅲ) -EDTA and the mechanism of forming gold nanoparticles were discussed in detail.

  7. Rapid identification of genes controlling virulence and immunity in malaria parasites

    KAUST Repository

    Abkallo, Hussein M.

    2017-07-13

    Identifying the genetic determinants of phenotypes that impact disease severity is of fundamental importance for the design of new interventions against malaria. Here we present a rapid genome-wide approach capable of identifying multiple genetic drivers of medically relevant phenotypes within malaria parasites via a single experiment at single gene or allele resolution. In a proof of principle study, we found that a previously undescribed single nucleotide polymorphism in the binding domain of the erythrocyte binding like protein (EBL) conferred a dramatic change in red blood cell invasion in mutant rodent malaria parasites Plasmodium yoelii. In the same experiment, we implicated merozoite surface protein 1 (MSP1) and other polymorphic proteins, as the major targets of strain-specific immunity. Using allelic replacement, we provide functional validation of the substitution in the EBL gene controlling the growth rate in the blood stages of the parasites.

  8. Validation of a screening method for rapid control of macrocyclic lactone mycotoxins in maize flour samples.

    Science.gov (United States)

    Zougagh, Mohammed; Téllez, Helena; Sánchez, Alberto; Chicharro, Manuel; Ríos, Angel

    2008-05-01

    A procedure for the analytical validation of a rapid supercritical fluid extraction amperometric screening method for controlling macrocyclic lactone mycotoxins in maize flour samples has been developed. The limit established by European legislation (0.2 mg kg(-1)), in reference to zearalenone (ZON) mycotoxin, was taken as the reference threshold to validate the proposed method. Natural ZON metabolites were also included in this study to characterize the final screening method. The objective was the reliable classification of samples as positive or negative samples. The cut-off level was fixed at a global concentration of mycotoxins of 0.17 mg kg(-1). An expanded unreliability zone between 0.16 and 0.23 mg kg(-1) characterized the screening method for classifying the samples. A set of 30 samples was used for the final demonstration of the reliability and usefulness of the method.

  9. Rapid identification of genes controlling virulence and immunity in malaria parasites

    Science.gov (United States)

    Xangsayarath, Phonepadith; Tang, Jianxia; Yahata, Kazuhide; Zoungrana, Augustin; Mitaka, Hayato; Acharjee, Arita; Datta, Partha P.; Hunt, Paul; Carter, Richard; Kaneko, Osamu; Mustonen, Ville; Pain, Arnab

    2017-01-01

    Identifying the genetic determinants of phenotypes that impact disease severity is of fundamental importance for the design of new interventions against malaria. Here we present a rapid genome-wide approach capable of identifying multiple genetic drivers of medically relevant phenotypes within malaria parasites via a single experiment at single gene or allele resolution. In a proof of principle study, we found that a previously undescribed single nucleotide polymorphism in the binding domain of the erythrocyte binding like protein (EBL) conferred a dramatic change in red blood cell invasion in mutant rodent malaria parasites Plasmodium yoelii. In the same experiment, we implicated merozoite surface protein 1 (MSP1) and other polymorphic proteins, as the major targets of strain-specific immunity. Using allelic replacement, we provide functional validation of the substitution in the EBL gene controlling the growth rate in the blood stages of the parasites. PMID:28704525

  10. Electromagnetic induction heating for single crystal graphene growth: morphology control by rapid heating and quenching.

    Science.gov (United States)

    Wu, Chaoxing; Li, Fushan; Chen, Wei; Veeramalai, Chandrasekar Perumal; Ooi, Poh Choon; Guo, Tailiang

    2015-03-12

    The direct observation of single crystal graphene growth and its shape evolution is of fundamental importance to the understanding of graphene growth physicochemical mechanisms and the achievement of wafer-scale single crystalline graphene. Here we demonstrate the controlled formation of single crystal graphene with varying shapes, and directly observe the shape evolution of single crystal graphene by developing a localized-heating and rapid-quenching chemical vapor deposition (CVD) system based on electromagnetic induction heating. Importantly, rational control of circular, hexagonal, and dendritic single crystalline graphene domains can be readily obtained for the first time by changing the growth condition. Systematic studies suggest that the graphene nucleation only occurs during the initial stage, while the domain density is independent of the growth temperatures due to the surface-limiting effect. In addition, the direct observation of graphene domain shape evolution is employed for the identification of competing growth mechanisms including diffusion-limited, attachment-limited, and detachment-limited processes. Our study not only provides a novel method for morphology-controlled graphene synthesis, but also offers fundamental insights into the kinetics of single crystal graphene growth.

  11. The neuro-hormonal control of rapid dynamic skin colour change in an amphibian during amplexus.

    Directory of Open Access Journals (Sweden)

    Christina Kindermann

    Full Text Available Sexual signalling using dynamic skin colouration is a key feature in some vertebrates; however, it is rarely studied in amphibians. Consequently, little is known about the hormonal basis of this interesting biological phenomenon for many species. Male stony creek frogs (Litoria wilcoxii are known to change dorsal colouration from brown to lemon yellow within minutes. This striking change is faster then what has been seen most amphibians, and could therefore be under neuronal regulation, a factor that is rarely observed in amphibians. In this study, we observed colour changes in wild frogs during amplexus to determine the natural timing of colour change. We also investigated the hypothesis that colour change is mediated by either reproductive or neuro- hormones. This was achieved by injecting frogs with epinephrine, testosterone, saline solution (control 1 or sesame oil (control 2. A non-invasive approach was also used wherein hormones and controls were administered topically. Male frogs turned a vivid yellow within 5 minutes of initiation of amplexus and remained so for 3-5 hours before rapidly fading back to brown. Epinephrine-treated frogs showed a significant colour change from brown to yellow within 5 minutes, however, testosterone-treated frogs did not change colour. Our results provide evidence of the role neuronal regulation plays in colour change systems.

  12. The neuro-hormonal control of rapid dynamic skin colour change in an amphibian during amplexus.

    Science.gov (United States)

    Kindermann, Christina; Narayan, Edward J; Hero, Jean-Marc

    2014-01-01

    Sexual signalling using dynamic skin colouration is a key feature in some vertebrates; however, it is rarely studied in amphibians. Consequently, little is known about the hormonal basis of this interesting biological phenomenon for many species. Male stony creek frogs (Litoria wilcoxii) are known to change dorsal colouration from brown to lemon yellow within minutes. This striking change is faster then what has been seen most amphibians, and could therefore be under neuronal regulation, a factor that is rarely observed in amphibians. In this study, we observed colour changes in wild frogs during amplexus to determine the natural timing of colour change. We also investigated the hypothesis that colour change is mediated by either reproductive or neuro- hormones. This was achieved by injecting frogs with epinephrine, testosterone, saline solution (control 1) or sesame oil (control 2). A non-invasive approach was also used wherein hormones and controls were administered topically. Male frogs turned a vivid yellow within 5 minutes of initiation of amplexus and remained so for 3-5 hours before rapidly fading back to brown. Epinephrine-treated frogs showed a significant colour change from brown to yellow within 5 minutes, however, testosterone-treated frogs did not change colour. Our results provide evidence of the role neuronal regulation plays in colour change systems.

  13. Erosion Control of Scour during Construction. Report 4. Stability of Underlayer Material Placed in Advance of Construction to Prevent Scour; Hydraulic Model Investigation.

    Science.gov (United States)

    1983-06-01

    CONSTRUCTION TO PREVENT SCOUR Hydraulic Model Investigation by Lyndell Z . Hales, James R. Houston S.Hydraulics Laboratory .’, ! 1- N U.S. Army Engineer...hiVeStI9.e e1(_____________________________ 6. PERFORMING ORG. REPORT NUMBER 7. AUTHOR(ek) 8. CONTRACT OR GRANT NUMBER(.) Lyodlell Z . Hiles James R...us t tO geerate ’ the reIpre-senatativye stonle weight, W it it the itlet-eayt’ tsectiatte. The e-xptressioni tir this- ctiese-rvi v- stabiltity

  14. Application of Hydraulic Synchronization Control Used on Pre-press of Continuous Hot Press%液压同步控制在连续热压机预压机上的应用

    Institute of Scientific and Technical Information of China (English)

    郭颖; 辛杨桂; 谭利华; 陈艺

    2013-01-01

    Aiming at the hydraulic synchronization control system with 6 cylinders of one pre-press of the continuous hot press production line, by using closed-loop control processing mode, the control requirements of compensating for dead-time and precise positioning are achieved consequently.%针对某连续热压机生产线预压机上的六缸液压同步控制系统,采用闭环控制方法,实现了死区补偿、精确定位等控制要求.

  15. Elevator and hydraulics; Elevator to yuatsu

    Energy Technology Data Exchange (ETDEWEB)

    Nakamura, I. [Hitachi, Ltd., Tokyo (Japan)

    1994-07-15

    A hydraulic type elevator is installed in relatively lower buildings as compared with a rope type elevator, but the ratio in the number of installation of the former elevator is increasing. This paper explains from its construction and features to especially various control systems for the riding comfort and safety. A direct push-up system with hydraulic jacks arranged beneath a car, and an indirect push-up system that has hydraulic jacks arranged on flank of a car and transmits the movement of a plunger via a rope are available. The latter system eliminates the need of large holes to embed hydraulic jacks. While the speed is controlled by controlling flow rates of high-pressure oil, the speed, position, acceleration and even time differential calculus of the acceleration must be controlled severely. The system uses two-step control for the through-speed and the landing speed. Different systems that have been realized may include compensation for temperatures in flow rate control valves, load pressures, and oil viscosity, from learning control to fuzzy control for psychological effects, or control of inverters in motors. 13 refs., 12 figs., 1 tab.

  16. M1078 Hybrid Hydraulic Vehicle Fuel Economy Evaluation

    Science.gov (United States)

    2012-09-01

    PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1. REPORT DATE (DD-MM-YYYY) 28-09-2012 2. REPORT TYPE Interim Report 3. DATES COVERED (From...system shakedown and developmental testing. During developmental testing, a hydraulic motor failure occurred. Although not catastrophic, the motor...main hydraulic hybrid system control module to request the TCM to shift the transmission. Clutch Operation with engine- off (hydraulic-only power) or

  17. NEW HYDRAULIC ACTUATOR'S POSITION SERVOCONTROL STRATEGY

    Institute of Scientific and Technical Information of China (English)

    KE Zunrong; ZHU Yuquan; LING Xuan

    2007-01-01

    A new hydraulic actuator-hydraulic muscle (HM) is described, and the actuator's features and applications are analyzed, then a position servocontrol system in which HM is main actuator is set up. The mathematical model of the system is built up and several control strategies are discussed. Based on the mathematical model, simulation research and experimental investigation with subsection PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control adopted respectively are carried out, and the results indicate that compared with PID control, neural network self-adaptive PID control and single neuron self-adaptive PID control don't need controlled system's accurate model and have fast response, high control accuracy and strong robustness, they are very suitable for HM position servo control system.

  18. Analysis of Innovative Design of Energy Efficient Hydraulic Actuators

    Directory of Open Access Journals (Sweden)

    M Osman Abdalla

    2013-01-01

    Full Text Available Hydraulic cylinder actuators are used extensively in industrial, construction and agricultural works. The small sized outlet ports of the cylinders resist the flow of discharged oil; and as a result the piston motion is slowed down. This causes a lot of heat generation and energy loss within the actuators. The study investigates and analyzes the possibilities of reducing the hydraulic resistance and increasing efficiency of the hydraulic actuator. Conventional hydraulic cylinders are simulated in FLUENT. Results show that the small outlet ports are the sources of energy loss in hydraulic cylinders. A new hydraulic system was proposed as a solution to relieve the hydraulic resistance in the actuators. The proposed system is a four ports hydraulic cylinder fitted with a novel flow control valve. The proposed four ports cylinder was simulated and parameters such as ports sizes, loads and pressures are varied during the simulation. The hydraulic resisting forces, piston speed and mass flow rates are computed. Results show that the hydraulic resistance is significantly reduced in the proposed four ports actuators; and the proposed cylinders run faster than the conventional cylinders and a considerable amount of energyis saved as well.

  19. Trend of hydraulic units

    Energy Technology Data Exchange (ETDEWEB)

    Deshimaru, Jun' ichi

    1988-11-01

    The gear, vane and piston pumps occupy a more then 90% share in the hydraulic pumps. Comparatively large pumps are mainly variable delivery piston pumps. The piston pumps are comparatively high in output density (output per unit weight), indicating the hydraulic pump in performance, and tend to become higher and higher in it. Though they are mainly 210 to 350kgf/cm/sup 2/ in rated pressure, some of them come to surpass 400kgf/cm/sup 3/ in it. While the progress in computation also requires the high speed operation, high accuracy and other severe conditions for the hydraulic units, which accordingly and increasingly intensify the requirement for hydraulic oil in abrasion resistibility, oxidation stability and response characteristics. While cavitation comes to easily occur, which considerably and disadvantageously influences hydraulic oil in life through degradation, noise level and respondingness. From now on, the development of high performance oil and study of mechanical structure are important. 19 references, 9 figures, 2 tables.

  20. The impact research of control modes in steam turbine control system (digital electric hydraulic to the low-frequency oscillation of grid

    Directory of Open Access Journals (Sweden)

    Yanghai Li

    2016-01-01

    Full Text Available Through the analysis of the control theory for steam turbine, the transfer function of the steam turbine control modes in the parallel operation was obtained. The frequency domain analysis indicated that different control modes of turbine control system have different influence on the damping characteristics of the power system. The comparative analysis shows the direction and the degree of the influence under the different oscillation frequency range. This can provide the theory for the suppression of the low-frequency oscillation from turbine side and has a guiding significance for the stability of power system. The results of simulation tests are consistent with the theoretic analysis.

  1. Pollution Type and Control Ways of Hydraulic System of Civil Airplane%民机液压系统污染种类以及控制方法

    Institute of Scientific and Technical Information of China (English)

    翁康静

    2015-01-01

    介绍了液压系统的集中污染源,分析了污染源造成的原因并采取了相应的控制措施。%This paper mainly analyzed the pollution sources in the hydraulic system of civil airplane ,found out the reasons ,and put forword the relevant measures .

  2. Nonlinear switched models for control of unsteady forces on a rapidly pitching airfoil

    Science.gov (United States)

    Dawson, Scott; Brunton, Steven; Rowley, Clarence

    2013-11-01

    The unsteady aerodynamic forces incident on a pitching flat plate airfoil at a Reynolds number of 100 are investigated through direct numerical simulation. Linear state-space models, identified from impulse response data via the eigensystem realization algorithm, are used to accurately track rapid changes in lift coefficient through either feedback or feedforward control, even in the presence of gust disturbances. We develop a technique to project between states of linear models obtained at different angles of attack using primal and pseudo-adjoint balanced POD modes. This allows for the formation of a nonlinear switched model that is accurate over a wide range of angles of attack, in both pre- and post-stall regimes. We additionally investigate phenomena that are not captured by linear models, such as an increase in mean lift that occurs when vortex shedding frequencies are excited. The effect of changing the pitch axis is also investigated, where it is found that pitching aft of the mid-chord results in right half plane zeros that increase the difficulty of the control problem. This work was supported by AFOSR grant FA9550-12-1-0075.

  3. Infants in control: rapid anticipation of action outcomes in a gaze-contingent paradigm.

    Directory of Open Access Journals (Sweden)

    Quan Wang

    Full Text Available Infants' poor motor abilities limit their interaction with their environment and render studying infant cognition notoriously difficult. Exceptions are eye movements, which reach high accuracy early, but generally do not allow manipulation of the physical environment. In this study, real-time eye tracking is used to put 6- and 8-month-old infants in direct control of their visual surroundings to study the fundamental problem of discovery of agency, i.e. the ability to infer that certain sensory events are caused by one's own actions. We demonstrate that infants quickly learn to perform eye movements to trigger the appearance of new stimuli and that they anticipate the consequences of their actions in as few as 3 trials. Our findings show that infants can rapidly discover new ways of controlling their environment. We suggest that gaze-contingent paradigms offer effective new ways for studying many aspects of infant learning and cognition in an interactive fashion and provide new opportunities for behavioral training and treatment in infants.

  4. Evidence for rapid evolutionary change in an invasive plant in response to biological control.

    Science.gov (United States)

    Stastny, M; Sargent, R D

    2017-05-01

    We present evidence that populations of an invasive plant species that have become re-associated with a specialist herbivore in the exotic range through biological control have rapidly evolved increased antiherbivore defences compared to populations not exposed to biocontrol. We grew half-sib families of the invasive plant Lythrum salicaria sourced from 17 populations near Ottawa, Canada, that differed in their history of exposure to a biocontrol agent, the specialist beetle Neogalerucella calmariensis. In a glasshouse experiment, we manipulated larval and adult herbivory to examine whether a population's history of biocontrol influenced plant defence and growth. Plants sourced from populations with a history of biocontrol suffered lower defoliation than naïve, previously unexposed populations, strongly suggesting they had evolved higher resistance. Plants from biocontrol-exposed populations were also larger and produced more branches in response to herbivory, regrew faster even in the absence of herbivory and were better at compensating for the impacts of herbivory on growth (i.e. they exhibited increased tolerance). Furthermore, resistance and tolerance were positively correlated among genotypes with a history of biocontrol but not among naïve genotypes. Our findings suggest that biocontrol can rapidly select for increased defences in an invasive plant and may favour a mixed defence strategy of resistance and tolerance without an obvious cost to plant vigour. Although rarely studied, such evolutionary responses in the target species have important implications for the long-term efficacy of biocontrol programmes. © 2017 European Society For Evolutionary Biology. Journal of Evolutionary Biology © 2017 European Society For Evolutionary Biology.

  5. Simulation of hydraulic control system of deepwater subsea blowout preventer stacks%深水防喷器组液压控制系统仿真

    Institute of Scientific and Technical Information of China (English)

    葛斐; 郭宏; 李博; 许征

    2014-01-01

    井喷是海洋石油安全钻探生产的重要威胁,人为操作失误或元器件失效都可能导致井喷。防喷器组(BOP)安装在水下井口头,是控制井喷的核心部件,一旦发生井喷,BOP控制系统驱动阀门关闭井口,保证油井的安全。研究了深水防喷器组包括其液压控制系统的功能,在系统仿真软件SimulationX中建立防喷器组的详细模型,包括环形防喷器和闸板防喷器及防喷器组的液压控制系统。仿真分析了1524 m水深下防喷器在不同操作顺序下的封井过程,验证了BOP阀门关闭所用时间符合API规范要求,仿真结果与平台实测数据基本吻合。%The oil and gas industry has been constantly affected by numerous blowouts since it was evolved.Blowout which is caused mainly by kick,leads to loss of valuable reserves and also causes property damage along with loss of life.Subsea blowout preventer (BOP)stack is the key equipment which ensures the safety of wel bore operation.Once the blowout occurs,the control system of BOP wil actuate the corresponding valve and close the preventer within a spec-ified time.This paper investigated the dynamic behavior of hydraulic control system of deepwater subsea BOP stacks.Mathematic simulation models of the ram and annular preventers are estab-lished by using SimulationX software.Different cases are studied to verify whether it is appropri-ate to be operated according to API requirements at the water depth of 1 524 m.

  6. Review of Hydraulic Fracturing for Preconditioning in Cave Mining

    Science.gov (United States)

    He, Q.; Suorineni, F. T.; Oh, J.

    2016-12-01

    Hydraulic fracturing has been used in cave mining for preconditioning the orebody following its successful application in the oil and gas industries. In this paper, the state of the art of hydraulic fracturing as a preconditioning method in cave mining is presented. Procedures are provided on how to implement prescribed hydraulic fracturing by which effective preconditioning can be realized in any in situ stress condition. Preconditioning is effective in cave mining when an additional fracture set is introduced into the rock mass. Previous studies on cave mining hydraulic fracturing focused on field applications, hydraulic fracture growth measurement and the interaction between hydraulic fractures and natural fractures. The review in this paper reveals that the orientation of the current cave mining hydraulic fractures is dictated by and is perpendicular to the minimum in situ stress orientation. In some geotechnical conditions, these orientation-uncontrollable hydraulic fractures have limited preconditioning efficiency because they do not necessarily result in reduced fragmentation sizes and a blocky orebody through the introduction of an additional fracture set. This implies that if the minimum in situ stress orientation is vertical and favors the creation of horizontal hydraulic fractures, in a rock mass that is already dominated by horizontal joints, no additional fracture set is added to that rock mass to increase its blockiness to enable it cave. Therefore, two approaches that have the potential to create orientation-controllable hydraulic fractures in cave mining with the potential to introduce additional fracture set as desired are proposed to fill this gap. These approaches take advantage of directional hydraulic fracturing and the stress shadow effect, which can re-orientate the hydraulic fracture propagation trajectory against its theoretical predicted direction. Proppants are suggested to be introduced into the cave mining industry to enhance the

  7. Cavitation in Hydraulic Machinery

    Energy Technology Data Exchange (ETDEWEB)

    Kjeldsen, M.

    1996-11-01

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

  8. 新型液压并联遥操纵手力反馈伺服控制研究%Research on a Novel Parallel Hydraulic Haptic Master Servo Control System

    Institute of Scientific and Technical Information of China (English)

    冯石柱; 徐鸣; 赵丁选; 苏波

    2012-01-01

    以一种新型六自由度液压并联力反馈遥操纵手为研究对象,以其输出力为控制目标,建立力控制系统数学模型,设计广义预测控制( GPC)系统实现六自由度遥操纵主手的控制.并搭建遥操纵实验台对其操作性能进行验证,实验结果表明,所设计的控制系统克服了系统参数不确定性、建模误差等不利因素的影响,获得了良好的动、静态响应特性.文中工作对液压伺服操纵手的控制研究有一定参考价值.%Using a parallel hydraulic Stewart-6-DOF platform as a force reflecting haptic master,the force based model is deduced and the general predictive control ( GPC ) theory is used for the design of the controller to control the 6-DOF parallel hydraulic force reflecting haptic master. The servo control system test bench has been set up by using a piece of the 6-DOF master. The test results show that the control system overcomes the model error and uncertainty and gain better both dynamic and static respondence. It is of certain significance for parallel hydraulic haptic master control system design.

  9. Tidal current turbine based on hydraulic transmission system

    Institute of Scientific and Technical Information of China (English)

    Hong-wei LIU; Wei LI; Yong-gang LIN; Shun MA

    2011-01-01

    Tidal current turbines (TCTs) are newly developed electricity generating devices.Aiming at the stabilization of the power output of TCTs,this paper introduces the hydraulic transmission technologies into TCTs.The hydrodynamics of the turbine was analyzed at first and its power output characteristics were predicted.A hydraulic power transmission system and a hydraulic pitch-controlled system were designed.Then related simulations were conducted.Finally,a TCT prototype was manufactured and tested in the workshop.The test results have confirmed the correctness of the current design and availability of installation of the hydraulic system in TCTs.

  10. Popeye Project: Hydraulic umbilical

    Energy Technology Data Exchange (ETDEWEB)

    Jordan, K.G.; Williams, V.T.

    1996-12-31

    For the Popeye Project, the longest super-duplex hydraulic umbilical in the world was installed in the Gulf of Mexico. This paper reports on its selection and project implementation. Material selection addresses corrosion in seawater, water-based hydraulic fluid, and methanol. Five alternatives were considered: (1) carbon-steel with traditional coating and anodes, (2) carbon-steel coated with thermally sprayed aluminum, (3) carbon-steel sheathed in aluminum, (4) super-duplex, and (5) titanium. The merits and risks associated with each alternative are discussed. The manufacture and installation of the selected umbilical are also reported.

  11. Hydraulic Arm Modeling via Matlab SimHydraulics

    OpenAIRE

    Věchet, Stanislav; Krejsa, Jiří

    2009-01-01

    System modeling is a vital tool for cost reduction and design process speed up in most engineering fields. The paper is focused on modeling of hydraulic arm as a part of intelligent prosthesis project, in the form of 2DOF open kinematic chain. The arm model combines mechanical, hydraulic and electric subsystems and uses Matlab as modeling tool. SimMechanics Matlab extension is used for mechanical part modeling, SimHydraulics toolbox is used for modeling of hydraulic circuit used for actuating...

  12. On the Hydraulics of Flowing Horizontal Wells

    Science.gov (United States)

    Bian, A.; Zhan, H.

    2003-12-01

    A flowing horizontal well is a special type of horizontal well that does not have pumping/injecting facility. The discharge rate of a flowing horizontal well is controlled by the hydraulic gradient between the aquifer and the well and it generally varies with time if the hydraulic head of the aquifer is transient. This type of well has been used in landslide control, mining dewatering, water table control, underground water transportation through a horizontal tunnel, agricultural water drainage, and other applications. Flowing horizontal wells have quite different hydrodynamic characteristics from horizontal wells with fixed pumping or injecting rates because their discharge rates are functions of the aquifer hydraulic heads (Zhan et al, 2001; Zhan and Zlotnik, 2002). Hydraulics of flowing horizontal wells have rarely been studied although the hydraulics of flowing vertical wells have been extensively investigated before. The purpose of this paper is to obtain analytical solutions of groundwater flow to a flowing horizontal-well in a confined aquifer, in a water table aquifer without precipitation, and in a water table aquifer with precipitation. The functions of the flowing horizontal well discharge rates versus time will be obtained under above mentioned different aquifer conditions. The relationships of the aquifer hydraulic heads versus the discharge rates of the well will be investigated. The rate of water table decline due to the dewatering of the well will also be computed, and this solution is particularly useful for landslide control and mining dewatering. The theoretical solutions will be compared with results of experiments that will be conducted in the hydrological laboratory at Texas A&M University. Reference: Zhan, H., Wang, L.V., and Park, E, On the horizontal well pumping tests in the anisotropic confined aquifers, J. hydrol., 252, 37-50, 2001. Zhan, H., and Zlotnik, V. A., Groundwater flow to a horizontal or slanted well in an unconfined aquifer

  13. Prevention and Control of Cardiovascular Disease in the Rapidly Changing Economy of China.

    Science.gov (United States)

    Wu, Yangfeng; Benjamin, Emelia J; MacMahon, Stephen

    2016-06-14

    With one-fifth of the world's total population, China's prevention and control of cardiovascular disease (CVD) may affect the success of worldwide efforts to achieve sustainable CVD reduction. Understanding China's current cardiovascular epidemic requires awareness of the economic development in the past decades. The rapid economic transformations (industrialization, marketization, urbanization, globalization, and informationalization) contributed to the aging demography, unhealthy lifestyles, and environmental changes. The latter have predisposed to increasing cardiovascular risk factors and the CVD pandemic. Rising CVD rates have had a major economic impact, which has challenged the healthcare system and the whole society. With recognition of the importance of health, initial political steps and national actions have been taken to address the CVD epidemic. Looking to the future, we recommend that 4 priorities should be taken: pursue multisectorial government and nongovernment strategies targeting the underlying causes of CVD (the whole-of-government and whole-of-society policy); give priority to prevention; reform the healthcare system to fit the nature of noncommunicable diseases; and conduct research for evidence-based, low-cost, simple, sustainable, and scalable interventions. By pursuing the 4 priorities, the pandemic of CVD and other major noncommunicable diseases in China will be reversed and the global sustainable development goal achieved.

  14. Rapid characterization and quality control of complex cell culture media solutions using raman spectroscopy and chemometrics.

    Science.gov (United States)

    Li, Boyan; Ryan, Paul W; Ray, Bryan H; Leister, Kirk J; Sirimuthu, Narayana M S; Ryder, Alan G

    2010-10-01

    The use of Raman spectroscopy coupled with chemometrics for the rapid identification, characterization, and quality assessment of complex cell culture media components used for industrial mammalian cell culture was investigated. Raman spectroscopy offers significant advantages for the analysis of complex, aqueous-based materials used in biotechnology because there is no need for sample preparation and water is a weak Raman scatterer. We demonstrate the efficacy of the method for the routine analysis of dilute aqueous solution of five different chemically defined (CD) commercial media components used in a Chinese Hamster Ovary (CHO) cell manufacturing process for recombinant proteins.The chemometric processing of the Raman spectral data is the key factor in developing robust methods. Here, we discuss the optimum methods for eliminating baseline drift, background fluctuations, and other instrumentation artifacts to generate reproducible spectral data. Principal component analysis (PCA) and soft independent modeling of class analogy (SIMCA) were then employed in the development of a robust routine for both identification and quality evaluation of the five different media components. These methods have the potential to be extremely useful in an industrial context for "in-house" sample handling, tracking, and quality control.

  15. Extended temporal integration in rapid serial visual presentation: Attentional control at Lag 1 and beyond.

    Science.gov (United States)

    Akyürek, Elkan G; Wolff, Michael J

    2016-07-01

    In the perception of target stimuli in rapid serial visual presentations, the process of temporal integration plays an important role when two targets are presented in direct succession (at Lag 1), causing them to be perceived as a singular episodic event. This has been associated with increased reversals of target order report and elevated task performance in classic paradigms. Yet, most current models of temporal attention do not incorporate a mechanism of temporal integration and it is currently an open question whether temporal integration is a factor in attentional processing: It might be an independent process, perhaps little more than a sensory sampling rate parameter, isolated to Lag 1, where it leaves the attentional dynamics otherwise unaffected. In the present study, these boundary conditions were tested. Temporal target integration was observed across sequences of three targets spanning an interval of 240ms. Integration rates furthermore depended strongly on bottom-up attentional filtering, and to a lesser degree on top-down control. The results support the idea that temporal integration is an adaptive process that is part of, or at least interacts with, the attentional system. Implications for current models of temporal attention are discussed.

  16. Validation of Contamination Control in Rapid Transfer Port Chambers for Pharmaceutical Manufacturing Processes

    Directory of Open Access Journals (Sweden)

    Shih-Cheng Hu

    2016-11-01

    Full Text Available There is worldwide concern with regard to the adverse effects of drug usage. However, contaminants can gain entry into a drug manufacturing process stream from several sources such as personnel, poor facility design, incoming ventilation air, machinery and other equipment for production, etc. In this validation study, we aimed to determine the impact and evaluate the contamination control in the preparation areas of the rapid transfer port (RTP chamber during the pharmaceutical manufacturing processes. The RTP chamber is normally tested for airflow velocity, particle counts, pressure decay of leakage, and sterility. The air flow balance of the RTP chamber is affected by the airflow quantity and the height above the platform. It is relatively easy to evaluate the RTP chamber′s leakage by the pressure decay, where the system is charged with the air, closed, and the decay of pressure is measured by the time period. We conducted the determination of a vaporized H2O2 of a sufficient concentration to complete decontamination. The performance of the RTP chamber will improve safety and can be completely tested at an ISO Class 5 environment.

  17. A large Legionnaires' disease outbreak in Pamplona, Spain: early detection, rapid control and no case fatality.

    Science.gov (United States)

    Castilla, J; Barricarte, A; Aldaz, J; García Cenoz, M; Ferrer, T; Pelaz, C; Pineda, S; Baladrón, B; Martín, I; Goñi, B; Aratajo, P; Chamorro, J; Lameiro, F; Torroba, L; Dorronsoro, I; Martínez-Artola, V; Esparza, M J; Gastaminza, M A; Fraile, P; Aldaz, P

    2008-06-01

    An outbreak of Legionnaire's disease was detected in Pamplona, Spain, on 1 June 2006. Patients with pneumonia were tested to detect Legionella pneumophila antigen in urine (Binax Now; Binax Inc., Scarborough, ME, USA), and all 146 confirmed cases were interviewed. The outbreak was related to district 2 (22 012 inhabitants), where 45% of the cases lived and 50% had visited; 5% lived in neighbouring districts. The highest incidence was found in the resident population of district 2 (3/1000 inhabitants), section 2 (14/1000). All 31 cooling towers of district 2 were analysed. L. pneumophila antigen (Binax Now) was detected in four towers, which were closed on 2 June. Only the strain isolated in a tower situated in section 2 of district 2 matched all five clinical isolates, as assessed by mAb and two genotyping methods, AFLP and PFGE. Eight days after closing the towers, new cases ceased appearing. Early detection and rapid coordinated medical and environmental actions permitted immediate control of the outbreak and probably contributed to the null case fatality.

  18. Validation of Contamination Control in Rapid Transfer Port Chambers for Pharmaceutical Manufacturing Processes.

    Science.gov (United States)

    Hu, Shih-Cheng; Shiue, Angus; Liu, Han-Yang; Chiu, Rong-Ben

    2016-11-12

    There is worldwide concern with regard to the adverse effects of drug usage. However, contaminants can gain entry into a drug manufacturing process stream from several sources such as personnel, poor facility design, incoming ventilation air, machinery and other equipment for production, etc. In this validation study, we aimed to determine the impact and evaluate the contamination control in the preparation areas of the rapid transfer port (RTP) chamber during the pharmaceutical manufacturing processes. The RTP chamber is normally tested for airflow velocity, particle counts, pressure decay of leakage, and sterility. The air flow balance of the RTP chamber is affected by the airflow quantity and the height above the platform. It is relatively easy to evaluate the RTP chamber's leakage by the pressure decay, where the system is charged with the air, closed, and the decay of pressure is measured by the time period. We conducted the determination of a vaporized H₂O₂ of a sufficient concentration to complete decontamination. The performance of the RTP chamber will improve safety and can be completely tested at an ISO Class 5 environment.

  19. HYDRAULICS, TUSCARAWAS COUNTY, OHIO, USA

    Data.gov (United States)

    Federal Emergency Management Agency, Department of Homeland Security — Hydraulic data include spatial datasets and data tables necessary for documenting the hydraulic procedures for estimating flood discharges for a flood insurance...

  20. Rapid-Adiabatic Control of Ro-Vibrational Populations in Polyatomic Molecules

    Science.gov (United States)

    Zak, Emil J.; Yachmenev, Andrey

    2017-06-01

    We present a simple method for control of ro-vibrational populations in polyatomic molecules in the presence of inhomogeneous electric fields [1]. Cooling and trapping of heavy polar polyatomic molecules has become one of the frontier goals in high-resolution molecular spectroscopy, especially in the context of parity violation measurement in chiral compounds [2]. A key step toward reaching this goal would be development of a robust and efficient protocol for control of populations of ro-vibrational states in polyatomic, often floppy molecules. Here we demonstrate a modification of the stark-chirped rapid-adiabatic-passage technique (SCRAP) [3], designed for achieving high levels of control of ro-vibrational populations over a selected region in space. The new method employs inhomogeneous electric fields to generate space- and time- controlled Stark-shifts of energy levels in molecules. Adiabatic passage between ro-vibrational states is enabled by the pump pulse, which raises the value of the Rabi frequency. This Stark-chirped population transfer can be used in manipulation of population differences between high-field-seeking and low-field-seeking states of molecules in the Stark decelerator [4]. Appropriate timing of voltages on electric rods located along the decelerator combined with a single pump laser renders our method as potentially more efficient than traditional Stark decelerator techniques. Simulations for NH_3 show significant improvement in effectiveness of cooling, with respect to the standard 'moving-potential' method [5]. At the same time a high phase-space acceptance of the molecular packet is maintained. E. J. Zak, A. Yachmenev (submitted). C. Medcraft, R. Wolf, M. Schnell, Angew. Chem. Int. Ed., 53, 43, 11656-11659 (2014) M. Oberst, H. Munch, T. Halfman, PRL 99, 173001 (2007). K. Wohlfart, F. Grätz, F. Filsinger, H. Haak, G. Meijer, J. Küpper, Phys. Rev. A 77, 031404(R) (2008). H. L. Bethlem, F. M. H. Crompvoets, R. T. Jongma, S. Y. T. van de