This study proposes an accurate dead zone compensation control method for electro-hydrostatic actuators(EHAs)under low-speed conditions.Specifically,the nonlinear dead zone characteristics under low-speed conditions a...This study proposes an accurate dead zone compensation control method for electro-hydrostatic actuators(EHAs)under low-speed conditions.Specifically,the nonlinear dead zone characteristics under low-speed conditions are summarized based on numerous EHA experiments.An adaptive compensation function(ACF)is then constructed for the dead zone.Next,this study proposes an adaptive dead zone compensation control method for EHAs by integrating the ACF with a virtual decomposition controller(VDC)based on the established EHA model.The stability of the proposed control method is also proven.Finally,the proposed control method is verified using an EHA platform.The test results show that the dead zone trajectory tracking errors of EHAs are significantly reduced when combined with the ACF.Furthermore,since most EHAs are controlled by adjusting the motor speed,the method presented in this study is simpler and easier to use than methods that employ flow compensation.展开更多
The integrated electro-hydrostatic actuator （EHA） with variable displacement and variable rotation speed is researched. In the system, the output of the actuator is changed by controlling the rotationspeed of the br...The integrated electro-hydrostatic actuator （EHA） with variable displacement and variable rotation speed is researched. In the system, the output of the actuator is changed by controlling the rotationspeed of the brushless DC servomotor and the displacement of the servopump. The mathematical model described in state-space model is created. The system characteristics are studied based on the point of multiplicative dual-variable. And the basic method of control of the system is presented.展开更多
With the advancement of more electric aircraft(MEA)technology,the application of electro-hydrostatic actuators(EHAs)in aircraft actuation systems has become increasingly prevalent.This paper focuses on the modeling an...With the advancement of more electric aircraft(MEA)technology,the application of electro-hydrostatic actuators(EHAs)in aircraft actuation systems has become increasingly prevalent.This paper focuses on the modeling and mode switching analysis of EHA used in the primary flight control actuation systems of large aircraft,addressing the challenges associated with mode switching.First,we analyze the functional architecture and operational characteristics of multi-mode EHA,and sumarize the operating modes and implementation methods.Based on the EHA system architecture,we then develop a theoretical mathematical model and a simulation model.Using the simulation model,we analyze the performance of the EHA during normal operation.Finally,the performance of the EHA during mode switching under various functional switching scenarios is investigated.The results indicate that the EHA meets the performance requirements in terms of accuracy,bandwidth,and load capacity.Additionally,the hydraulic cylinder operates smoothly during the EHA mode switching,and the response time for switching between different modes is less than the specified threshold.These findings validate the system performance of multi-mode EHA,which helps to improve the reliability of EHA and the safety of aircraft flight control systems.展开更多
The electro-hydrostatic actuator （EHA） is a kind of power-by-wire （PBW） actuator that converts the electrical power into localized hydraulic power for flight control. By removing the central hydraulic power supply...The electro-hydrostatic actuator （EHA） is a kind of power-by-wire （PBW） actuator that converts the electrical power into localized hydraulic power for flight control. By removing the central hydraulic power supply together with hydraulic pipes, an EHA＇s reliability and efficiency are greatly improved but its frequency width and stiffness decreased. To overcome the drawback, this article proposes a novel structure of EHA associated with a power regulator. Composed of a high-pressure accumulator and a proportional valve, it can store and harness the hydraulic power flexibly according to the changing control requirements. The concept of transferred volume is put forward to estimate the capability of the power regulator. The actuator output position can be kept fixed with a hydraulic lock. The compounded control is specially developed to ensure the actuator system to operate in a correct manner. The simulation results indicate that the new-brand actuator results in efficient expanding of the system frequency width with an optimal power supply.展开更多
This paper presents a novel transient lubrication model for the analysis of the variable load failure mechanism of high-speed pump used in Load Sensing Electro-Hydrostatic Actuator（LS-EHA）. Focusing on the slipper/s...This paper presents a novel transient lubrication model for the analysis of the variable load failure mechanism of high-speed pump used in Load Sensing Electro-Hydrostatic Actuator（LS-EHA）. Focusing on the slipper/swashplate pair partial abrasion, which is considered as the dominant failure mode in the high-speed condition, slipper dynamic models are established. A forth sliding motion of the slipper on the swashplate surface is presented under the fact that the slipper center of mass will rotate around the center of piston ball when the swashplate angle is dynamically adjusted. Besides, extra inertial tilting moments will be produced for the slipper based on the theorem on translation of force, which will increase rapidly when LS-EHA pump operates under highspeed condition. Then, a dynamic lubricating model coupling with fluid film thickness field, temperature field and pressure field is proposed. The deformation effects caused by thermal deflection and hydrostatic pressure are considered. A numerical simulation model is established to validate the effectiveness and accuracy of the proposed model. Finally, based on the load spectrum of aircraft flight profile, the variable load conditions and the oil film characteristics are analyzed, and series of variable load rules of oil film thickness with variable speed/variable pressure/variable displacement are concluded.展开更多
The electro-hydrostatic actuator(EHA)used in more electric aircraft(MEA)has been extensively studied due to its advantages of high reliability and high integration.However,this high integration results in a small heat...The electro-hydrostatic actuator(EHA)used in more electric aircraft(MEA)has been extensively studied due to its advantages of high reliability and high integration.However,this high integration results in a small heat dissipation area,leading to high-temperature problems.Generally,to reduce the temperature,a wet cooling method of using the pump leakage oil to cool the motor is adopted,which can also increase the difficulty of accurately predicting the system temperature in the early design stage.To solve this problem,a dynamic coupling thermal model of a wet EHA is proposed in this paper.In particular,the leakage oil of the pump is used as a coupling item between the electrical system and the hydraulic system.Then,an improved T-equivalent block model is proposed to address the uneven distribution of axial oil temperature inside the motor,and the control node method is applied to hydraulic system thermal modeling.Meanwhile,a dynamic coupling thermal model is developed that enables a dynamic evaluation of the wet EHA temperature.Then,experimental prototypes of wet motor and wet EHA are developed,while the temperature response of the wet motor at different rotation speeds and different loads and the temperature response of the wet EHA at no-load condition were verified experimentally at room temperature,respectively.The maximum temperature difference between the experimental and theoretical results of the wet motor as well as the experimental and theoretical results of the wet EHA is less than 8℃.These test results indicate that the dynamic coupling thermal model is valid and demonstrate that the thermal coupling modeling method proposed in this paper can provide a basis for the detailed thermal design of EHA.展开更多
The paper proposes a performance degradation analysis model based on dynamic erosion wear for a novel Linear Electro-Hydrostatic Actuator（LEHA）. Rather than the traditional statistical methods based on degradation d...The paper proposes a performance degradation analysis model based on dynamic erosion wear for a novel Linear Electro-Hydrostatic Actuator（LEHA）. Rather than the traditional statistical methods based on degradation data, the method proposed in this paper firstly analyzes the dominant progressive failure mode of the LEHA based on the working principle and working conditions of the LEHA. The Computational Fluid Dynamics（CFD） method, combining the turbulent theory and the micro erosion principle, is used to establish an erosion model of the rectification mechanism. The erosion rates for different port openings, under a time-varying flow field, are obtained. The piecewise linearization method is applied to update the concentration of contaminated particles within the LEHA, in order to gain insight into the erosion degradation process at various stages of degradation. The main contribution of the proposed model is the application of the dynamic concentration of contamination particles in erosion analysis of Electro-Hydraulic Servo Valves（EHSVs）, throttle valves, spool valves, and needle valves. The effects of system parameters and working conditions on component wear are analyzed by simulations. The results of the proposed model match the expected degradation process.展开更多
To improve the power density and simplify the seal structure,the Wet-Type Permanent Magnet Synchronous Motor(WTPMSM)technique has been applied to aerospace Electro-Hydrostatic Actuators(EHA).In a WTPMSM,the stator and...To improve the power density and simplify the seal structure,the Wet-Type Permanent Magnet Synchronous Motor(WTPMSM)technique has been applied to aerospace Electro-Hydrostatic Actuators(EHA).In a WTPMSM,the stator and the rotor are both immersed in the aviation hydraulic oil.Although the heat dissipation performance of the WTPMSM can be enhanced,the aviation hydraulic oil will cost an extra oil frictional loss in the narrow airgap of the WTPMSM.This paper proposes an accurate oil frictional loss model for the WTPMSM,in which the wide speed range(0–20 kr/min)and the narrowness of the airgap(0.5–1.5 mm)are its features.Firstly,the mechanism of the oil frictional loss in the airgap of the WTPMSM is revealed.Then an accurate oil frictional loss model is proposed considering the nonlinear influence caused by the Taylor vortex.Furthermore,the influence of motor dimensions on oil frictional loss is analyzed.Finally,the proposed oil frictional loss model is verified by experiments,which provides a guideline for engineers to follow in the WTPMSM design.展开更多
A novel electro-hydrostatic actuator （EHA） for active vibration isolation has been designed, modelled and tested. The EHA consists of a brushless DC motor running in oil and integrated with a bidirectional gear pu...A novel electro-hydrostatic actuator （EHA） for active vibration isolation has been designed, modelled and tested. The EHA consists of a brushless DC motor running in oil and integrated with a bidirectional gear pump, driving a hydraulic cylinder. The actuator is designed to be integrated into a flexible strut connecting a helicopter rotor hub and fuselage, to provide isolation at the dominant rotor vibration frequency of around 20 Hz. The resonant frequency of the EHA is tuned to provide some passive vibration isolation. Active control increases the isolation performance by compensating for damping losses, and provides isolation over a broader range of frequencies. Tests on a prototype demonstrated a four-fold reduction of the root-mean-square transmitted force and a near elimination at the fundamental frequency. The advantages of the resonant EHA are a wider range of operating frequencies than a purely passive system, and lower power consumption than a purely active system.展开更多
To prepare a conductive polymer actuator with decent performance,a self-built experimental platform for the preparation of polypyrrole film is employed.One of the essential goals is to examine the mechanical character...To prepare a conductive polymer actuator with decent performance,a self-built experimental platform for the preparation of polypyrrole film is employed.One of the essential goals is to examine the mechanical characteristics of the actuator in the presence of various combinations of process parameters,combined with the orthogonal test method of"four factors and three levels".The bending and sensing characteristics of actuators of various sizes are methodically examined using a self-made bending polypyrrole actuator.The functional relationship between the bending displacement and the output voltage signal is established by studying the characteristics of the actuator sensor subjected to various degrees of bending.The experimental results reveal that the bending displacement of the actuator tip almost exhibits a linear variation as a function of length and width.When the voltage reaches 0.8 V,the bending speed of the actuator tends to be stable.Finally,the mechanical properties of the self-assembled polypyrrole actuator are verified by the design and fabrication of the microgripper.展开更多
This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic systems.We introduce two novel compliant actuators,na...This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic systems.We introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental results.These actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle technology.Then,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are presented.Experiments demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic aesthetics.Compared to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.展开更多
Piezo actuators are widely used in ultra-precision fields because of their high response and nano-scale step length.However,their hysteresis characteristics seriously affect the accuracy and stability of piezo actuato...Piezo actuators are widely used in ultra-precision fields because of their high response and nano-scale step length.However,their hysteresis characteristics seriously affect the accuracy and stability of piezo actuators.Existing methods for fitting hysteresis loops include operator class,differential equation class,and machine learning class.The modeling cost of operator class and differential equation class methods is high,the model complexity is high,and the process of machine learning,such as neural network calculation,is opaque.The physical model framework cannot be directly extracted.Therefore,the sparse identification of nonlinear dynamics(SINDy)algorithm is proposed to fit hysteresis loops.Furthermore,the SINDy algorithm is improved.While the SINDy algorithm builds an orthogonal candidate database for modeling,the sparse regression model is simplified,and the Relay operator is introduced for piecewise fitting to solve the distortion problem of the SINDy algorithm fitting singularities.The Relay-SINDy algorithm proposed in this paper is applied to fitting hysteresis loops.Good performance is obtained with the experimental results of open and closed loops.Compared with the existing methods,the modeling cost and model complexity are reduced,and the modeling accuracy of the hysteresis loop is improved.展开更多
The speed of an Electro-Hydrostatic Actuator(EHA) pump can recently reach 20000 r/min, and its churning losses increase obviously with an increasing speed, which results in low efficiency and thus increasing heat in a...The speed of an Electro-Hydrostatic Actuator(EHA) pump can recently reach 20000 r/min, and its churning losses increase obviously with an increasing speed, which results in low efficiency and thus increasing heat in aircraft EHA systems. In order to reduce churning losses at high speeds, more attention should be given to the design of an insert. In this paper, the effect of an insert with different design parameters on churning losses is investigated through Computational Fluid Dynamics(CFD) simulation and experiments by calculating the difference between churning losses torques of the test pump with and without the insert based on a high-speed churning losses test rig.Analytical results show that the gap between the insert and the cylinder is critical for churning losses reduction. It is found that the churning losses of the test pump can be reduced with a decreasing gap between the cylinder block and the insert at high speeds. This is because the insert can decrease the turbulence occurrence at high speeds. The results can be used for flow field analysis and optimization of the high-speed EHA pump and provide a new method for improving efficiency of high-speed EHA pumps.展开更多
The variable pump displacement and variable motor speed electro-hydrostatic actuator(EHA),one of the three types of EHAs,has advantages such as short response time,flexible speed regulation,and high efficiency.However...The variable pump displacement and variable motor speed electro-hydrostatic actuator(EHA),one of the three types of EHAs,has advantages such as short response time,flexible speed regulation,and high efficiency.However,the nonlinearity of its double-input single-output system poses a great challenge for system control.This study proposes a novel EHA with adaptive pump displacement and variable motor speed(EHA-APVM).A closed-loop position is realized using a servomotor.Moreover,the displacement varies with the system pressure;thus,the EHA-APVM is a single-input and single-output system.Firstly,the working principles of the EHA-APVM and the pump used in the system are introduced.Secondly,a nonlinear mathematical model of the proposed EHA-APVM control system is established,and a feedback back-stepping(FBBS)control algorithm is introduced to transform the complex nonlinear system into a linear system on the basis of the back-stepping control theory.Finally,simulation results prove that the EHA-APVM has a quick response and high robustness to variations of the load and the pump displacement.In this work,the size and weight of the motor are significantly reduced because the maximum power requirement is reduced,which is very beneficial for using the actuator in airborne equipment.展开更多
Small-scale electromagnetic soft actuators are characterized by a fast response and simplecontrol,holding prospects in the field of soft and miniaturized robotics.The use of liquid metal(LM)to replace a rigid conducto...Small-scale electromagnetic soft actuators are characterized by a fast response and simplecontrol,holding prospects in the field of soft and miniaturized robotics.The use of liquid metal(LM)to replace a rigid conductor inside soft actuators can reduce the rigidity and enhance the actuation performance and robustness.Despite research efforts,challenges persist in the flexible fabrication of LM soft actuators and in the improvement of actuation performance.To address these challenges,we developed a fast and robust electromagnetic soft microplate actuator based on a laser-induced selective adhesion transfer method.Equipped with unprecedentedly thin LM circuit and customized low Young’s modulus silicone rubber(1.03 kPa),our actuator exhibits an excellent deformation angle(265.25?)and actuation bending angular velocity(284.66 rad·s^(-1)).Furthermore,multiple actuators have been combined to build an artificial gripper with a wide range of functionalities.Our actuator presents new possibilities for designing small-scaleartificial machines and supports advancements in ultrafast soft and miniaturized robotics.展开更多
This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles in...This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.展开更多
The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator fa...The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.展开更多
To improve the cruise flight performance of aircraft, two new configurations of plasma actuators(grid-type and super-dense array) were investigated to reduce the turbulent skin friction drag of a low-speed airfoil. Th...To improve the cruise flight performance of aircraft, two new configurations of plasma actuators(grid-type and super-dense array) were investigated to reduce the turbulent skin friction drag of a low-speed airfoil. The induced jet characteristics of the two actuators in quiescent air were diagnosed with high-speed particle image velocimetry(PIV), and their drag reduction efficiencies were examined under different operating conditions in a wind tunnel. The results showed that the grid-type plasma actuator was capable of producing a wall-normal jet array(peak magnitude: 1.07 m/s) similar to that generated in a micro-blowing technique, while the superdense array plasma actuator created a wavy wall-parallel jet(magnitude: 0.94 m/s) due to the discrete spanwise electrostatic forces. Under a comparable electrical power consumption level,the super-dense array plasma actuator array significantly outperformed the grid-type configuration,reducing the total airfoil friction drag by approximately 22% at a free-stream velocity of 20 m/s.The magnitude of drag reduction was proportional to the dimensionless jet velocity ratio(r), and a threshold r = 0.014 existed under which little impact on airfoil drag could be discerned.展开更多
Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic disturbances.These unfavorable factors adversely affect the control performance of the hydraulic a...Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic disturbances.These unfavorable factors adversely affect the control performance of the hydraulic actuator.Although various control methods have been employed to improve the tracking precision of the dynamic system,optimizing and adjusting control gain to mitigate the hydraulic actuator model uncertainties remains elusive.This study presents an adaptive back-stepping sliding mode controller(ABSMC)to enhance the trajectory tracking precision,where the virtual control law is constructed to replace the position error.The adaptive control theory is introduced in back-stepping controller design to compensate for the model uncertainties and time-varying disturbances.Based on Lyapunov theory,the finite-time convergence of the position tracking errors is proved.Furthermore,the effectiveness of the developed control scheme is conducted via extensive comparative experiments.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.51890883,U2141209)1912 Project Foundation。
文摘This study proposes an accurate dead zone compensation control method for electro-hydrostatic actuators(EHAs)under low-speed conditions.Specifically,the nonlinear dead zone characteristics under low-speed conditions are summarized based on numerous EHA experiments.An adaptive compensation function(ACF)is then constructed for the dead zone.Next,this study proposes an adaptive dead zone compensation control method for EHAs by integrating the ACF with a virtual decomposition controller(VDC)based on the established EHA model.The stability of the proposed control method is also proven.Finally,the proposed control method is verified using an EHA platform.The test results show that the dead zone trajectory tracking errors of EHAs are significantly reduced when combined with the ACF.Furthermore,since most EHAs are controlled by adjusting the motor speed,the method presented in this study is simpler and easier to use than methods that employ flow compensation.
文摘The integrated electro-hydrostatic actuator （EHA） with variable displacement and variable rotation speed is researched. In the system, the output of the actuator is changed by controlling the rotationspeed of the brushless DC servomotor and the displacement of the servopump. The mathematical model described in state-space model is created. The system characteristics are studied based on the point of multiplicative dual-variable. And the basic method of control of the system is presented.
基金supported by the Chinese Civil Aircraft Project(No.MJ-2017-S49).
文摘With the advancement of more electric aircraft(MEA)technology,the application of electro-hydrostatic actuators(EHAs)in aircraft actuation systems has become increasingly prevalent.This paper focuses on the modeling and mode switching analysis of EHA used in the primary flight control actuation systems of large aircraft,addressing the challenges associated with mode switching.First,we analyze the functional architecture and operational characteristics of multi-mode EHA,and sumarize the operating modes and implementation methods.Based on the EHA system architecture,we then develop a theoretical mathematical model and a simulation model.Using the simulation model,we analyze the performance of the EHA during normal operation.Finally,the performance of the EHA during mode switching under various functional switching scenarios is investigated.The results indicate that the EHA meets the performance requirements in terms of accuracy,bandwidth,and load capacity.Additionally,the hydraulic cylinder operates smoothly during the EHA mode switching,and the response time for switching between different modes is less than the specified threshold.These findings validate the system performance of multi-mode EHA,which helps to improve the reliability of EHA and the safety of aircraft flight control systems.
基金National Natural Science Foundation for Distinguished Young Scholars of China （50825502）
文摘The electro-hydrostatic actuator （EHA） is a kind of power-by-wire （PBW） actuator that converts the electrical power into localized hydraulic power for flight control. By removing the central hydraulic power supply together with hydraulic pipes, an EHA＇s reliability and efficiency are greatly improved but its frequency width and stiffness decreased. To overcome the drawback, this article proposes a novel structure of EHA associated with a power regulator. Composed of a high-pressure accumulator and a proportional valve, it can store and harness the hydraulic power flexibly according to the changing control requirements. The concept of transferred volume is put forward to estimate the capability of the power regulator. The actuator output position can be kept fixed with a hydraulic lock. The compounded control is specially developed to ensure the actuator system to operate in a correct manner. The simulation results indicate that the new-brand actuator results in efficient expanding of the system frequency width with an optimal power supply.
基金supported by the National Natural Science Foundation of China(Nos.51620105010,51675019 and 51575019)the National Basic Research Program of China(No.2014CB046402)+1 种基金the ‘‘111" Projectthe Excellence Foundation of BUAA for PhD Students
文摘This paper presents a novel transient lubrication model for the analysis of the variable load failure mechanism of high-speed pump used in Load Sensing Electro-Hydrostatic Actuator（LS-EHA）. Focusing on the slipper/swashplate pair partial abrasion, which is considered as the dominant failure mode in the high-speed condition, slipper dynamic models are established. A forth sliding motion of the slipper on the swashplate surface is presented under the fact that the slipper center of mass will rotate around the center of piston ball when the swashplate angle is dynamically adjusted. Besides, extra inertial tilting moments will be produced for the slipper based on the theorem on translation of force, which will increase rapidly when LS-EHA pump operates under highspeed condition. Then, a dynamic lubricating model coupling with fluid film thickness field, temperature field and pressure field is proposed. The deformation effects caused by thermal deflection and hydrostatic pressure are considered. A numerical simulation model is established to validate the effectiveness and accuracy of the proposed model. Finally, based on the load spectrum of aircraft flight profile, the variable load conditions and the oil film characteristics are analyzed, and series of variable load rules of oil film thickness with variable speed/variable pressure/variable displacement are concluded.
基金co-supported by the National Natural Science Foundation of China (No. 51890882)National Key Research and Development Program of China (No. 2018YFB2000702)
文摘The electro-hydrostatic actuator(EHA)used in more electric aircraft(MEA)has been extensively studied due to its advantages of high reliability and high integration.However,this high integration results in a small heat dissipation area,leading to high-temperature problems.Generally,to reduce the temperature,a wet cooling method of using the pump leakage oil to cool the motor is adopted,which can also increase the difficulty of accurately predicting the system temperature in the early design stage.To solve this problem,a dynamic coupling thermal model of a wet EHA is proposed in this paper.In particular,the leakage oil of the pump is used as a coupling item between the electrical system and the hydraulic system.Then,an improved T-equivalent block model is proposed to address the uneven distribution of axial oil temperature inside the motor,and the control node method is applied to hydraulic system thermal modeling.Meanwhile,a dynamic coupling thermal model is developed that enables a dynamic evaluation of the wet EHA temperature.Then,experimental prototypes of wet motor and wet EHA are developed,while the temperature response of the wet motor at different rotation speeds and different loads and the temperature response of the wet EHA at no-load condition were verified experimentally at room temperature,respectively.The maximum temperature difference between the experimental and theoretical results of the wet motor as well as the experimental and theoretical results of the wet EHA is less than 8℃.These test results indicate that the dynamic coupling thermal model is valid and demonstrate that the thermal coupling modeling method proposed in this paper can provide a basis for the detailed thermal design of EHA.
基金supported by the National Natural Science Foundation of China(Nos.51620105010,51675019,51575019)the National Basic Research Program of China(No.2014CB046402)the Program 111 of China
文摘The paper proposes a performance degradation analysis model based on dynamic erosion wear for a novel Linear Electro-Hydrostatic Actuator（LEHA）. Rather than the traditional statistical methods based on degradation data, the method proposed in this paper firstly analyzes the dominant progressive failure mode of the LEHA based on the working principle and working conditions of the LEHA. The Computational Fluid Dynamics（CFD） method, combining the turbulent theory and the micro erosion principle, is used to establish an erosion model of the rectification mechanism. The erosion rates for different port openings, under a time-varying flow field, are obtained. The piecewise linearization method is applied to update the concentration of contaminated particles within the LEHA, in order to gain insight into the erosion degradation process at various stages of degradation. The main contribution of the proposed model is the application of the dynamic concentration of contamination particles in erosion analysis of Electro-Hydraulic Servo Valves（EHSVs）, throttle valves, spool valves, and needle valves. The effects of system parameters and working conditions on component wear are analyzed by simulations. The results of the proposed model match the expected degradation process.
基金This work was supported in part by National Natural Science Foundation of China(Nos.52177028 and U2141226)in part by Major Program of the National Natural Science Foundation of China(No.51890882)in part by Aeronautical Science Foundation of China(No.201907051002).
文摘To improve the power density and simplify the seal structure,the Wet-Type Permanent Magnet Synchronous Motor(WTPMSM)technique has been applied to aerospace Electro-Hydrostatic Actuators(EHA).In a WTPMSM,the stator and the rotor are both immersed in the aviation hydraulic oil.Although the heat dissipation performance of the WTPMSM can be enhanced,the aviation hydraulic oil will cost an extra oil frictional loss in the narrow airgap of the WTPMSM.This paper proposes an accurate oil frictional loss model for the WTPMSM,in which the wide speed range(0–20 kr/min)and the narrowness of the airgap(0.5–1.5 mm)are its features.Firstly,the mechanism of the oil frictional loss in the airgap of the WTPMSM is revealed.Then an accurate oil frictional loss model is proposed considering the nonlinear influence caused by the Taylor vortex.Furthermore,the influence of motor dimensions on oil frictional loss is analyzed.Finally,the proposed oil frictional loss model is verified by experiments,which provides a guideline for engineers to follow in the WTPMSM design.
文摘A novel electro-hydrostatic actuator （EHA） for active vibration isolation has been designed, modelled and tested. The EHA consists of a brushless DC motor running in oil and integrated with a bidirectional gear pump, driving a hydraulic cylinder. The actuator is designed to be integrated into a flexible strut connecting a helicopter rotor hub and fuselage, to provide isolation at the dominant rotor vibration frequency of around 20 Hz. The resonant frequency of the EHA is tuned to provide some passive vibration isolation. Active control increases the isolation performance by compensating for damping losses, and provides isolation over a broader range of frequencies. Tests on a prototype demonstrated a four-fold reduction of the root-mean-square transmitted force and a near elimination at the fundamental frequency. The advantages of the resonant EHA are a wider range of operating frequencies than a purely passive system, and lower power consumption than a purely active system.
基金Funded by the National Natural Science Foundation of Hunan Province,Chinal(No.2021JJ60012)。
文摘To prepare a conductive polymer actuator with decent performance,a self-built experimental platform for the preparation of polypyrrole film is employed.One of the essential goals is to examine the mechanical characteristics of the actuator in the presence of various combinations of process parameters,combined with the orthogonal test method of"four factors and three levels".The bending and sensing characteristics of actuators of various sizes are methodically examined using a self-made bending polypyrrole actuator.The functional relationship between the bending displacement and the output voltage signal is established by studying the characteristics of the actuator sensor subjected to various degrees of bending.The experimental results reveal that the bending displacement of the actuator tip almost exhibits a linear variation as a function of length and width.When the voltage reaches 0.8 V,the bending speed of the actuator tends to be stable.Finally,the mechanical properties of the self-assembled polypyrrole actuator are verified by the design and fabrication of the microgripper.
基金research project funded by the National Natural Science Foundation of China(NSFC)under Grant 91948302 and Grant 52021003Research England fund at NERIC.
文摘This paper endeavours to bridge the existing gap in muscular actuator design for ligament-skeletal-inspired robots,thereby fostering the evolution of these robotic systems.We introduce two novel compliant actuators,namely the Internal Torsion Spring Compliant Actuator(ICA)and the External Spring Compliant Actuator(ECA),and present a comparative analysis against the previously conceived Magnet Integrated Soft Actuator(MISA)through computational and experimental results.These actuators,employing a motor-tendon system,emulate biological muscle-like forms,enhancing artificial muscle technology.Then,applications of the proposed actuators in a robotic arm inspired by the human musculoskeletal system are presented.Experiments demonstrate satisfactory power in tasks like lifting dumbbells(peak power:36 W),playing table tennis(end-effector speed:3.2 m/s),and door opening,without compromising biomimetic aesthetics.Compared to other linear stiffness serial elastic actuators(SEAs),ECA and ICA exhibit high power-to-volume(361×10^(3)W/m^(3))and power-to-mass(111.6 W/kg)ratios respectively,endorsing the biomimetic design’s promise in robotic development.
基金National Natural Science Foundation of China(62203118)。
文摘Piezo actuators are widely used in ultra-precision fields because of their high response and nano-scale step length.However,their hysteresis characteristics seriously affect the accuracy and stability of piezo actuators.Existing methods for fitting hysteresis loops include operator class,differential equation class,and machine learning class.The modeling cost of operator class and differential equation class methods is high,the model complexity is high,and the process of machine learning,such as neural network calculation,is opaque.The physical model framework cannot be directly extracted.Therefore,the sparse identification of nonlinear dynamics(SINDy)algorithm is proposed to fit hysteresis loops.Furthermore,the SINDy algorithm is improved.While the SINDy algorithm builds an orthogonal candidate database for modeling,the sparse regression model is simplified,and the Relay operator is introduced for piecewise fitting to solve the distortion problem of the SINDy algorithm fitting singularities.The Relay-SINDy algorithm proposed in this paper is applied to fitting hysteresis loops.Good performance is obtained with the experimental results of open and closed loops.Compared with the existing methods,the modeling cost and model complexity are reduced,and the modeling accuracy of the hysteresis loop is improved.
基金financial supports from the National Basic Research Program of China(973 Program)(No.2014CB046403)the National Natural Science Foundation of China(No.1737110)
文摘The speed of an Electro-Hydrostatic Actuator(EHA) pump can recently reach 20000 r/min, and its churning losses increase obviously with an increasing speed, which results in low efficiency and thus increasing heat in aircraft EHA systems. In order to reduce churning losses at high speeds, more attention should be given to the design of an insert. In this paper, the effect of an insert with different design parameters on churning losses is investigated through Computational Fluid Dynamics(CFD) simulation and experiments by calculating the difference between churning losses torques of the test pump with and without the insert based on a high-speed churning losses test rig.Analytical results show that the gap between the insert and the cylinder is critical for churning losses reduction. It is found that the churning losses of the test pump can be reduced with a decreasing gap between the cylinder block and the insert at high speeds. This is because the insert can decrease the turbulence occurrence at high speeds. The results can be used for flow field analysis and optimization of the high-speed EHA pump and provide a new method for improving efficiency of high-speed EHA pumps.
基金financially supported by the National Natural Science Foundation of China(No’s.51375029 and 51775013).
文摘The variable pump displacement and variable motor speed electro-hydrostatic actuator(EHA),one of the three types of EHAs,has advantages such as short response time,flexible speed regulation,and high efficiency.However,the nonlinearity of its double-input single-output system poses a great challenge for system control.This study proposes a novel EHA with adaptive pump displacement and variable motor speed(EHA-APVM).A closed-loop position is realized using a servomotor.Moreover,the displacement varies with the system pressure;thus,the EHA-APVM is a single-input and single-output system.Firstly,the working principles of the EHA-APVM and the pump used in the system are introduced.Secondly,a nonlinear mathematical model of the proposed EHA-APVM control system is established,and a feedback back-stepping(FBBS)control algorithm is introduced to transform the complex nonlinear system into a linear system on the basis of the back-stepping control theory.Finally,simulation results prove that the EHA-APVM has a quick response and high robustness to variations of the load and the pump displacement.In this work,the size and weight of the motor are significantly reduced because the maximum power requirement is reduced,which is very beneficial for using the actuator in airborne equipment.
基金supported by the National Natural Science Foundation of China(Nos.52122511,61927814,and U20A20290)Anhui Provincial Natural Science Foundation(2308085QF218)+5 种基金China National Postdoctoral Program for Innovative Talents(BX20230351)China Postdoctoral Science Foundation(2023M733382)National Key R&D Program of China(2021YFF0502700)Major Scientific and Technological Projects in Anhui Province(202203a05020014)Fundamental Research Funds for the Central Universities(WK5290000003 and WK2090000058)Youth Innovation Promotion Association CAS(Y2021118)。
文摘Small-scale electromagnetic soft actuators are characterized by a fast response and simplecontrol,holding prospects in the field of soft and miniaturized robotics.The use of liquid metal(LM)to replace a rigid conductor inside soft actuators can reduce the rigidity and enhance the actuation performance and robustness.Despite research efforts,challenges persist in the flexible fabrication of LM soft actuators and in the improvement of actuation performance.To address these challenges,we developed a fast and robust electromagnetic soft microplate actuator based on a laser-induced selective adhesion transfer method.Equipped with unprecedentedly thin LM circuit and customized low Young’s modulus silicone rubber(1.03 kPa),our actuator exhibits an excellent deformation angle(265.25?)and actuation bending angular velocity(284.66 rad·s^(-1)).Furthermore,multiple actuators have been combined to build an artificial gripper with a wide range of functionalities.Our actuator presents new possibilities for designing small-scaleartificial machines and supports advancements in ultrafast soft and miniaturized robotics.
基金the National Natural Science Foundation of China(51939001,52171292,51979020,61976033)Dalian Outstanding Young Talents Program(2022RJ05)+1 种基金the Topnotch Young Talents Program of China(36261402)the Liaoning Revitalization Talents Program(XLYC20-07188)。
文摘This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.
基金partially supported by the National Natural Science Foundation of China(62322307)Sichuan Science and Technology Program,China(2023NSFSC1968).
文摘The paper investigates the practical prescribed-time fuzzy tracking control problem for a category of nonlinear system subject to time-varying actuator faults.The presence of unknown nonlinear dynamics and actuator faults makes achieving tracking control within a prescribed-time challenging.To tackle this issue,we propose a novel practical prescribed-time fuzzy tracking control strategy,which is independent of the initial state of the system and does not rely on precise modeling of the system and actuators.We apply the approximation capabilities of fuzzy logic systems to handle the unknown nonlinear functions and unidentified actuator faults in the system.The piecewise controller and adaptive law constructed based on piecewise prescribed time-varying function and backstepping technique method establish the theoretical framework of practical prescribed-time tracking control,and extend the range of prescribed-time tracking control to infinity.Regardless of the initial conditions,the proposed control strategy can guarantee that all signals remain uniformly bounded within the practical prescribed time in the presence of unknown nonlinear item and time-varying actuator faults.Simulation example is presented to demonstrate the effectiveness of the proposed control strategy.
基金supported by National Natural Science Foundation of China (Nos.12002384, U2341277,and 52025064)Foundation Strengthening Program (No.2021JJ-0786)。
文摘To improve the cruise flight performance of aircraft, two new configurations of plasma actuators(grid-type and super-dense array) were investigated to reduce the turbulent skin friction drag of a low-speed airfoil. The induced jet characteristics of the two actuators in quiescent air were diagnosed with high-speed particle image velocimetry(PIV), and their drag reduction efficiencies were examined under different operating conditions in a wind tunnel. The results showed that the grid-type plasma actuator was capable of producing a wall-normal jet array(peak magnitude: 1.07 m/s) similar to that generated in a micro-blowing technique, while the superdense array plasma actuator created a wavy wall-parallel jet(magnitude: 0.94 m/s) due to the discrete spanwise electrostatic forces. Under a comparable electrical power consumption level,the super-dense array plasma actuator array significantly outperformed the grid-type configuration,reducing the total airfoil friction drag by approximately 22% at a free-stream velocity of 20 m/s.The magnitude of drag reduction was proportional to the dimensionless jet velocity ratio(r), and a threshold r = 0.014 existed under which little impact on airfoil drag could be discerned.
基金supported by the fund of Henan Key Laboratory of Superhard Abrasives and Grinding Equipment,Henan University of Technology(Grant No.JDKFJJ2023005)the Key Science and Technology Program of Henan Province(Grant Nos.242102221001 and 232102220085)the Science and Technology Key Project Foundation of Henan Provincial Education Department(Grant No.23A460014).
文摘Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic disturbances.These unfavorable factors adversely affect the control performance of the hydraulic actuator.Although various control methods have been employed to improve the tracking precision of the dynamic system,optimizing and adjusting control gain to mitigate the hydraulic actuator model uncertainties remains elusive.This study presents an adaptive back-stepping sliding mode controller(ABSMC)to enhance the trajectory tracking precision,where the virtual control law is constructed to replace the position error.The adaptive control theory is introduced in back-stepping controller design to compensate for the model uncertainties and time-varying disturbances.Based on Lyapunov theory,the finite-time convergence of the position tracking errors is proved.Furthermore,the effectiveness of the developed control scheme is conducted via extensive comparative experiments.
