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Energy Management Based on Neural Networks for a Hydraulic Hybrid Wheel Loader 基于神经网络的液压混合动力装载机能量管理
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-09-22 DOI: 10.13052/ijfp1439-9776.2338
Henrique Raduenz, Liselott Ericson, K. Uebel, Kim Heybroek, P. Krus, V. Negri
This paper presents a method to derive optimised energy management strategies for a hydraulic hybrid wheel loader. Energy efficiency is a key aspect for the sustainability of off-road mobile machines. Energy management strategies for on-road hybrid vehicles cannot be directly applied to off-road hybrid machines. One significant reason is that there are added degrees of freedom with respect to how power can be recovered, exchanged and reused in the different functions, such as drivetrain or work functions. This results in more complex energy management strategies being derived. This paper presents an analysis and preliminary conclusions for a proposed method to derive optimised online energy management strategies for a hydraulic hybrid wheel loader. Dynamic programming is used to obtain optimal offline energy management strategies for a series of drive cycles. The results are used as examples to train a neural network. The trained neural network then implements the energy management strategy and is used to make optimised control decisions. Through simulation, the neural network’s ability to learn the dynamic programming decision-making process is shown, resulting in the machine operating with fuel consumption similar to that of the offline optimal energy management strategy. Aspects of simplicity to model these machines for dynamic programming optimisation, the data necessary to train the network, the training process, variables used to learn the dynamic programming decision-making process and the robustness of the network when facing unseen operational conditions are discussed. The paper demonstrates the simplicity of the method for taking into account variables that affect the control decisions, therefore achieving optimised solutions.
提出了一种液压混合动力轮式装载机的能量优化管理方法。能源效率是越野移动机械可持续性的一个关键方面。公路混合动力汽车的能量管理策略不能直接应用于越野混合动力汽车。一个重要的原因是,在不同功能(如动力传动系统或工作功能)中,如何回收、交换和再利用电力方面增加了自由度。这导致了更复杂的能源管理策略的产生。本文对一种液压混合动力轮式装载机在线能量管理优化方法进行了分析,并得出了初步结论。采用动态规划的方法,获得了一系列驱动循环下的最优离线能量管理策略。结果被用作训练神经网络的例子。然后,训练后的神经网络实现能量管理策略,并用于做出优化的控制决策。通过仿真,证明了神经网络学习动态规划决策过程的能力,使机器运行时的油耗与离线最优能量管理策略相似。讨论了为动态规划优化对这些机器建模的简单性、训练网络所需的数据、训练过程、用于学习动态规划决策过程的变量以及面对未知操作条件时网络的鲁棒性。本文演示了考虑影响控制决策的变量的方法的简单性,从而实现了优化的解决方案。
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引用次数: 0
Numerical Investigation of the Influence of Part Geometric Tolerances on Piston/Cylinder Interface Performance 零件几何公差对活塞/气缸界面性能影响的数值研究
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-09-12 DOI: 10.13052/ijfp1439-9776.2334
S. Sarode, L. Shang, A. Vacca
Manufacturing errors are inevitable in hydraulic machines. The manufactured geometry of solid parts directly governs the performance of these machines. This paper reports an extensive simulation study for manufactured inaccuracies on the performance of the piston/cylinder interface of an axial piston machine using the state-of-the-art simulation tool. The performance of swashplate type axial piston machines is characterized mainly by the three lubricating interfaces including the cylinder block/valve plate, slipper/swashplate and piston/cylinder interface. Among the three lubricating interfaces, the piston/cylinder interface is more sensitive to manufacturing inaccuracies such as roundness and conicity of the solid parts as well as the precision and accuracy of the manufactured nominal diameters of the solid parts. This is because the manufactured geometry of the cylinder bore, and the piston directly affects the height and the shape of the lubricating gap of the piston/cylinder interface. Therefore, the manufacturing form deviations of the solid parts directly affects the viscous friction, leakage flow, wear process and lifetime of such lubricating interfaces. The fully coupled fluid structure thermal interaction model can predict the energy dissipation, viscous friction, leakage flow and the gap height considering the geometry of the solid parts.
液压机制造误差是不可避免的。实体零件的制造几何形状直接影响这些机器的性能。本文报告了使用最先进的模拟工具对轴向活塞机活塞/气缸接口性能的制造误差进行的广泛模拟研究。斜盘式轴向活塞机的性能主要表现为三个润滑接口,包括缸体/阀板、滑块/斜盘和活塞/气缸接口。在三种润滑界面中,活塞/气缸界面对制造不准确度更敏感,如固体零件的圆度和锥度,以及固体零件制造标称直径的精度和准确性。这是因为气缸孔和活塞的制造几何形状直接影响活塞/气缸界面的润滑间隙的高度和形状。因此,固体零件的制造形式偏差直接影响这种润滑界面的粘性摩擦、泄漏流量、磨损过程和寿命。全耦合流体-结构-热相互作用模型可以在考虑固体零件几何形状的情况下预测能量耗散、粘性摩擦、泄漏流量和间隙高度。
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引用次数: 0
Thermal Coupling Simulation of Electro-Hydrostatic Actuator Subjected to Critical Temperature Conditions 临界温度条件下电液致动器的热耦合仿真
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-09-12 DOI: 10.13052/ijfp1439-9776.2336
Xudong Han, T. Minav, Mingkang Wang, Y. Fu, M. Pietola
Electro-hydrostatic actuators (EHAs) are emerging transmission techniques originated from aerospace industry and being introduced to various application fields, such as ships, robots, construction machines, and machine tools. Despite the advantages of high efficiency, easy maintenance, electrified power, etc., EHAs are usually self-contained integrated devices, resulting in low heat dissipation ability. Therefore, thermal coupling models are necessary for the evaluation of each design option during the EHA development. In this paper, a thermal coupling model was established for EHA thermal characteristic analysis during the detail design stage. The disciplines of electrics, mechanics, system level hydraulics, losses, and control are implemented by lumped parameter modeling while the disciplines of thermodynamics and fluid dynamics are simulated by computational fluid dynamics (CFD). Subsequently, a simulation analysis focusing on the critical temperature conditions was conducted, and the dynamic thermal and power responses were achieved. The simulation results are applicable to gain confidence for EHA detail design work as well as proved the functions of the proposed model as a practical development tool.
电液静压执行器(EHA)是一种新兴的传动技术,起源于航空航天工业,并被引入船舶、机器人、工程机械和机床等各个应用领域。尽管EHA具有效率高、易于维护、通电等优点,但它通常是独立的集成器件,散热能力较低。因此,在EHA开发过程中,热耦合模型对于每个设计方案的评估都是必要的。本文在详细设计阶段建立了EHA热特性分析的热耦合模型。电学、力学、系统级水力学、损耗和控制学科通过集总参数建模实现,而热力学和流体动力学学科通过计算流体动力学(CFD)模拟。随后,对临界温度条件进行了仿真分析,获得了动态热响应和功率响应。仿真结果可用于EHA详细设计工作的置信度,并证明了所提出的模型作为一种实用的开发工具的功能。
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引用次数: 0
A Study on Trajectory Control System of Hydraulic Excavators Based on Multi-Domain Physical Model* 基于多域物理模型的液压挖掘机轨迹控制系统研究*
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-09-12 DOI: 10.13052/ijfp1439-9776.2337
Zhen Zhang, Jingming Zhang, Nianning Luo
Hydraulic excavators are complex mechatronics construction machinery with characteristics of multidiscipline intersection and multi-domain close coupling. To analyze the comprehensive property of its trajectory control system, a method of multi-system hybrid modeling and simulation based on MATLAB is proposed and described. In this paper, the multi-domain physical model of a medium-sized hydraulic excavator is established. The considered model is mainly comprised of four other subsystems: a machine system, a hydraulic system, a trajectory control system and a sensor system. Moreover, a fuzzy neural network (FNN) PID strategy is introduced to the trajectory control system to guarantee the accuracy of automatic operation. On the basis of the multi-domain physical model, typical simulation experiments for working patterns were performed to validate the performance of the FNNPID controller. Comparison results demonstrate that the precision and velocity response of the FNNPID controller is better than that of the PID with traditional algorithm. The tracking errors of the boom, the arm, the bucket and the swing are decreased by 3∘, 3.2∘, 5.5∘ and 7.5∘, respectively. Establishment of the multi-domain physical model offers technical means for optimization design and rapid modeling of the complex electromechanical system.
液压挖掘机是一种复杂的机电一体化工程机械,具有多学科交叉、多领域紧密耦合的特点。为了分析其轨迹控制系统的综合性能,提出并描述了一种基于MATLAB的多系统混合建模与仿真方法。本文建立了中型液压挖掘机的多域物理模型。所考虑的模型主要由四个子系统组成:机器系统、液压系统、轨迹控制系统和传感器系统。此外,将模糊神经网络(FNN)PID策略引入轨迹控制系统,以保证自动操作的准确性。在多域物理模型的基础上,进行了典型的工作模式仿真实验,验证了FNNPID控制器的性能。比较结果表明,FNNPID控制器的精度和速度响应优于传统算法的PID控制器。动臂、斗杆、铲斗和回转的跟踪误差分别降低了3、3.2、5.5和7.5。多域物理模型的建立为复杂机电系统的优化设计和快速建模提供了技术手段。
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引用次数: 0
A Method for the Camera-less Remote Surveillance on Hydraulically Actuated Heavy Equipment Using IoT Environment 基于物联网环境的液压驱动重型设备无摄像头远程监控方法
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-09-12 DOI: 10.13052/ijfp1439-9776.2335
V. Zhidchenko, H. Handroos
The paper considers the proposed method for the camera-less remote surveillance on hydraulically actuated heavy equipment. The method uses the data about the pressure and position of hydraulic actuators as an input. These data are transmitted over the internet in the Internet of Things (IoT) environment to the IoT cloud computing platform. A simulation model consisting of hydraulic and multibody dynamics submodels composes the digital twin of the machine under surveillance. This digital twin is maintained and calculated in the cloud. It reproduces the movements of the machine and calculates the forces acting in it. Together with the GPS coordinates, these data provide the full information on the machine operation. As a result, the productivity of the machine can be estimated, the misuse can be detected, and the load history can be gathered in order to estimate the remaining life of the machine or to plan the maintenance activities. The influence of the sensor accuracy on the simulation results is evaluated. The experimental results are presented that verify the feasibility of the proposed method on the example case of hydraulic mobile crane.
本文考虑了所提出的对液压驱动重型设备进行无摄像头远程监控的方法。该方法使用关于液压致动器的压力和位置的数据作为输入。这些数据在物联网(IoT)环境中通过互联网传输到物联网云计算平台。由液压和多体动力学子模型组成的仿真模型构成了被监控机器的数字孪生。这个数字孪生在云中进行维护和计算。它再现机器的运动并计算作用在机器上的力。这些数据与GPS坐标一起提供了机器操作的完整信息。因此,可以估计机器的生产率,可以检测误用,并且可以收集负载历史,以便估计机器的剩余寿命或计划维护活动。评估了传感器精度对仿真结果的影响。实验结果验证了该方法在液压移动起重机实例中的可行性。
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引用次数: 0
Energy Efficient Pneumatics: Aspects of Control and Systems Theory 节能气动:控制与系统理论方面
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-09-08 DOI: 10.13052/ijfp1439-9776.2333
Daniel Müller, J. Haag, Jennifer Wickert, Adrian Raisch, Kathrin Hoffmann, Kevin Schmidt, O. Sawodny
As the public call for increasing efforts in achieving the global climate protection goals intensifies, discussions about the efficient use of resources and energy are on the daily agenda. As many other areas, the industry has seen itself facing growing concerns about the long neglected environmental aspects. Since a large proportion of the energy in production is used by pneumatic drives, this survey paper exclusively focuses on pneumatics in handling and automation technology and presents the most common components, followed by multiple model-based strategies to increase energy efficiency in modern production plants.First, single units are studied extensively and methods for design and energy efficient control are presented. Since in production lines pneumatic drives are generally operated in large networks, the second part focuses on energy efficient strategies at plant level. These include an optimized adjustment of the supply pressure, a cascaded air usage, and an automated adaptive control pattern. Care is taken to ensure that the considered approaches are applicable in today’s industrial plants, which is demonstrated by experiments in a production line. The experimental findings show the immense potential of the discussed measures in the form of compressed air savings of more than 60% compared to the industry standard.
随着公众呼吁加大力度实现全球气候保护目标的呼声越来越高,关于资源和能源有效利用的讨论已列入日常议程。与许多其他领域一样,该行业也面临着对长期被忽视的环境方面日益增长的担忧。由于生产中很大一部分能源由气动驱动装置使用,因此本文专门关注处理和自动化技术中的气动,并介绍了最常见的组件,然后介绍了多种基于模型的策略,以提高现代生产工厂的能源效率。首先,对单机进行了广泛的研究,并提出了设计和节能控制的方法。由于在生产线中,气动驱动器通常在大型网络中运行,第二部分侧重于工厂级的节能策略。其中包括对供应压力的优化调整、级联空气使用和自动自适应控制模式。我们注意确保所考虑的方法适用于当今的工业工厂,这一点已在生产线上的实验中得到证明。实验结果表明,所讨论的措施具有巨大的潜力,与行业标准相比,压缩空气节省了60%以上。
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引用次数: 0
Stress Analysis of the Cylinder Block in an Axial Piston Pump 轴向柱塞泵缸体的应力分析
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-03-21 DOI: 10.13052/ijfp1439-9776.2332
Ivan Baus, Robert Rahmfeld, Andreas Schumacher, H. Pedersen
For axial piston units, product optimisation plays an essential role in the development phase, where an efficient and price-attractive product design and manufacturing process is the key to the success of a product. Moreover, the market needs are on lighter, more compact, efficient, and reliable products designed to the limit. Therefore, reliability is the focus of this work, where the research includes method analysis of the material stress calculation applied to the cylinder block implemented in an axial piston pump. A simplified calculation model is presented and evaluated concerning load while remaining accessible for users without deep technical knowledge or access to expensive Finite Element (FE) simulation tools. The analytical calculation method delivers a stress distribution intended for different purposes like design evaluation or as load spectrum for lifetime calculation. Additionally, the developed calculation method is generalised, enabling the methodology to be used on any standard axial piston pump. The methodology utilises the stress determination model, which includes the load as a sum of forces caused by the external and internal influencing factors. To show the method’s success, a comparison demonstrates strong positive agreement between the calculated and simulated stress results obtained by Finite Element Analysis.
对于轴向活塞装置,产品优化在开发阶段发挥着至关重要的作用,在开发阶段,高效且具有价格吸引力的产品设计和制造流程是产品成功的关键。此外,市场对更轻、更紧凑、高效和可靠的产品的需求达到了极限。因此,可靠性是本文的重点,研究内容包括应用于轴向柱塞泵缸体的材料应力计算的方法分析。提出了一个简化的计算模型,并对其进行了评估,同时为没有深厚技术知识或使用昂贵有限元模拟工具的用户提供了方便。分析计算方法提供了用于不同目的的应力分布,如设计评估或作为寿命计算的载荷谱。此外,所开发的计算方法是通用的,使该方法能够用于任何标准轴向活塞泵。该方法利用应力确定模型,该模型包括由外部和内部影响因素引起的力的总和。为了证明该方法的成功,通过有限元分析获得的计算结果和模拟结果之间的比较表明了强烈的正一致性。
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引用次数: 0
Study on Intelligent Optimization Model of Porous Hydraulic Buffer 多孔液压缓冲器智能优化模型研究
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-03-16 DOI: 10.13052/ijfp1439-9776.2331
Yangbin Zheng, Xiao Xue, Jisong Zhang
In order to improve the buffering performance of porous hydraulic buffer effectively, the artificial fish swarm algorithm is improved to carry out optimization analysis of porous hydraulic buffer. Firstly, theory model of porous hydraulic buffer is studied, and the optimal model of porous hydraulic buffer is established. Secondly, the improved artificial fish swarm algorithm is put forward through improving step size and fish swarm behaviour. Finally, the optimization simulation analysis of porous hydraulic buffer is carried out, and results show that the proposed artificial fish swarm algorithm can obtain better optimal effect, and improve the performance of porous hydraulic buffer.
为了有效提高多孔液压缓冲器的缓冲性能,对人工鱼群算法进行改进,对多孔液压缓冲器进行优化分析。首先,研究了多孔液压缓冲器的理论模型,建立了多孔液压缓冲器的优化模型。其次,通过改进步长和鱼群行为,提出了改进的人工鱼群算法。最后,对多孔液压缓冲器进行了优化仿真分析,结果表明所提出的人工鱼群算法能够获得较好的优化效果,提高了多孔液压缓冲器的性能。
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引用次数: 0
Finite Element Analysis of O-ring Performance Reinforced by a Metallic Core 金属芯增强o形圈性能的有限元分析
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-03-01 DOI: 10.13052/ijfp1439-9776.2325
E. Bahloul, M. Diany, H. Aissaoui, E. Boudaia, M. Mabrouki
This work presents a comparative analysis between a homogeneous O-ring and an another composed of the union of two materials. Two axisymmetric finite element models developed in this article using the ANSYS software study the seals behavior during their deformations. The results of the numerical model are compared with those of the analytical approach based on Hertz’s contact theory. The introduction of a metal core inside the elastomer O-ring can improve not only the seal’s resistance but also the maximum value of the contact pressure.
这项工作对均质O形环和由两种材料结合而成的另一种O形环进行了比较分析。本文使用ANSYS软件开发了两个轴对称有限元模型,研究了密封件在变形过程中的行为。将数值模型的结果与基于赫兹接触理论的分析方法的结果进行了比较。在弹性体O形环内部引入金属芯不仅可以提高密封的阻力,还可以提高接触压力的最大值。
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引用次数: 1
Demonstrating a Condition Monitoring Process for Axial Piston Pumps with Damaged Valve Plates 演示了阀板损坏的轴向柱塞泵的状态监测过程
IF 0.8 Q4 ENGINEERING, MECHANICAL Pub Date : 2022-02-22 DOI: 10.13052/ijfp1439-9776.2324
Nathan Keller, A. Sciancalepore, A. Vacca
Unexpected pump failures in mobile fluid power systems result in monetary and productivity losses, but these failures can be alleviated by implementing a condition monitoring system. This research aims to find the best condition monitoring (CM) technique for a pump with the fewest number of sensors, to accurately detect a defective condition. The sensors choice in a CM system is a critical decision, and a high number of sensors may result in disadvantages besides additional cost, such as overfitting the CM model and increased maintenance.A variable displacement axial piston pump is used as a reference machine for testing the CM technique. Several valve plates with various magnitudes of quantifiable wear and damage are used to compare “healthy” and “unhealthy” hydraulic pumps. The pump parameters are measured on a stationary test rig. This involves observing and detecting differences in pump performance between the healthy and unhealthy conditions and reducing the number of sensors required to monitor a pump’s condition. Observable differences in drain flow were shown, and machine learning algorithms were able to successfully classify a faulty and healthy pump with accuracies nearing 100%. The number of sensors was reduced by implementing a feature selection process and resulted in only five of the 23 sensors to correctly detect pump failure. These sensors measure outlet pressure, inlet pressure, drain pressure, pump speed, and pump displacement. The resulting reduction of sensors is reasonably affordable and relatively easy to implement on mobile applications.
在移动流体动力系统中,意外的泵故障会导致经济和生产力损失,但这些故障可以通过实施状态监测系统来减轻。本研究旨在以最少的传感器数量寻找泵的最佳状态监测(CM)技术,以准确检测缺陷状态。在CM系统中,传感器的选择是一个关键的决定,除了额外的成本之外,大量的传感器可能会导致缺点,例如CM模型的过拟合和维护的增加。以可变排量轴向柱塞泵为基准,对该技术进行了试验研究。几个具有不同程度的可量化磨损和损坏的阀板被用来比较“健康”和“不健康”液压泵。在固定试验台上测量了泵的参数。这包括观察和检测泵在健康和不健康状态下的性能差异,并减少监测泵状态所需的传感器数量。可以观察到排水管流量的差异,机器学习算法能够成功地对故障泵和健康泵进行分类,准确率接近100%。通过实施特征选择过程,减少了传感器的数量,导致23个传感器中只有5个能够正确检测泵故障。这些传感器测量出口压力,进口压力,排放压力,泵转速和泵排量。由此产生的传感器的减少是合理的负担得起的,并且相对容易在移动应用程序上实现。
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引用次数: 5
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International Journal of Fluid Power
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