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Hydraulic Control Systems

Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory Illustrative examples appear throughoutThe author begins by discussing typical robot manipulator mechanisms and their controllers He then devotes three chapters to the analysis of robot manipulator mechanisms He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters The final chapter develops the concept of manipulabilityThe second half focuses on the control of robot manipulators Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theoryTsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering

Foundations of robotics : analysis and control

A complete analysis of axial piston pump leakage and output flow ripples

A new hydraulic closed-loop hydrostatic transmission (HST) energy-saving system is proposed in this paper. The system improves the efficiency of the primary power source. Furthermore, the system is energy regenerative, highly efficient even under partial load conditions. It can work in either a flow or pressure coupling configuration, allowing it to avoid the disadvantages of each configuration. A hydraulic accumulator, the key component of the energy regenerative modality, can be decoupled from or coupled to the HST circuit to improve the efficiency of the system in low-speed, high-torque situations. The accumulator is used in a novel way to recover the kinetic energy without reversion of fluid flow. Both variable displacement hydraulic pump /motors are used when the system operates in the flow coupling configuration so as to enable it to meet the difficult requirements of some industrial and mobile applications. Modeling and a simulation were undertaken with regard to testing the primary energy sources in the two configurations and recovering the energy potential of the system. The results indicated that the low efficiency of traditional HSTs under partial load conditions can be improved by utilizing the pressure coupling configuration. The round-trip efficiency of the system in the energy recovery testing varied from 32% to 66% when the losses of the load were taken into account.

/pdf/modeling-and-simulation-of-hydrostatic-transmission-system-1293swq6xy.pdf

Modeling and simulation of hydrostatic transmission system with energy regeneration using hydraulic accumulator

The continued development of electro-hydrostatic actuators (EHAs) in aerospace applications has put forward an increasing demand upon EHA pumps for their high power density. Besides raising the delivery pressure, increasing the rotational speed is another effective way to achieve high power density of the pump, especially when the delivery pressure is limited by the strength of materials. However, high-speed operating conditions can lead to several challenges to the pump design. This paper reviews the current challenges including the cavitation, flow and pressure ripples, tilting motion of rotating group and heat problem, associated with a high-speed rotation. In addition, potential solutions to the challenges are summarized, and their advantages and limitations are analyzed in detail. Finally, future research trends in EHA pumps are suggested. It is hoped that this review can provide a full understanding of the speed limitations for EHA pumps and offer possible solutions to overcome them.

/pdf/a-review-of-high-speed-electro-hydrostatic-actuator-pumps-in-2owmozbbgo.pdf

A Review of High-Speed Electro-Hydrostatic Actuator Pumps in Aerospace Applications: Challenges and Solutions

Pump/valves coordinate control of the independent metering system for mobile machinery

https://cyberleninka.org/article/n/1495976.pdf

Analysis of the cylinder block tilting inertia moment and its effect on the performance of high-speed electro-hydrostatic actuator pumps of aircraft

In the conventional valve-controlled hydraulic elevator, when the cabin moves downwards, the entire potential energy of the cabin is wasted and converted into fluid heat by throttling. Thus, the energy consumption of a traditional hydraulic elevator is much higher than that of the traction elevator. To reduce the energy consumption and power installation requirements, the energy-regenerative hydraulic elevators have been developed since 1997. In this paper, different generations of the design are discussed for energy-regenerative system; in particular, a new generation is focused on in detail. Experimental studies of this new design are carried out to compare the energy consumption of different system designs of hydraulic elevator. Finally, a conclusion is drawn that the new generation of hydraulic elevator can achieve a significant energy-saving performance compared to the traditional elevators.

Bing Xu

Papers

A Review of High-Speed Electro-Hydrostatic Actuator Pumps in Aerospace Applications: Challenges and Solutions

Pump/valves coordinate control of the independent metering system for mobile machinery

Analysis of the cylinder block tilting inertia moment and its effect on the performance of high-speed electro-hydrostatic actuator pumps of aircraft

New Investigation in Energy Regeneration of Hydraulic Elevators

A theoretical dynamic model to study the vibration response characteristics of an axial piston pump