A coupled hydraulic and mechanical system simulation for hydraulic excavators

Park, Cheol-Gyu; Yoo, Shin; Ahn, Hyeonsik; Kim, Jooho; Shin, Dae-Young

doi:10.1177/0959651819861612

Cited by 13 publications

(9 citation statements)

References 21 publications

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“…where V v is the small volume between the pressure compensator and directional control valve, Q v is the volume flow through the throttle of pressure compensator, ẋ is sliding speed of the piston, A 1 and A 2 are cross-sectional areas of chambers of the cylinder, V 1 and V 2 are volumes of the pipelines and chamber in way A and way B, respectively. B e1 , B e2 , and B e3 are effective bulk moduli for each pressure in the system and are represented by (3). Volumes V 1 and V 2 are calculated as follows:…”

Section: B Circuit 2: Hydraulic Cylinder Controlled By a Directional ...mentioning

confidence: 99%

A Hybrid Model for Fast and Efficient Simulation of Fluid Power Circuits With Small Volumes Utilizing a Recurrent Neural Network

Ustinov

Handroos

2022

IEEE Access

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The modeling and simulation of fluid power systems are essential parts of the real-time simulation of virtual prototypes of mobile working machines. In several cases in the dynamic simulation of such fluid power systems, a longer simulation time is required. This makes the traditional mathematical models inefficient for real-time simulations, particularly when simulating fluid power systems because of the small volumes in stiff differential equations of pressure. The main reason for such an issue in the simulation of fluid power systems is the existence of small oil volumes in stiff differential equations of pressure. To overcome this issue, a novel hybrid model is proposed for stiff fluid power systems simulation. The main feature of the model is the utilization of a recurrent neural network instead of stiff differential equations of pressure with small volume. At the same time, the dynamics of the rest system are traditionally presented with algebraic and differential equations. The testing results of the introduced hybrid model showed that the novel method can reduce the simulation time, which makes the model suitable for real-time applications. Moreover, the accuracy of the model remains at a fairly high level compared to traditional mathematical models.INDEX TERMS Dynamic simulation, fluid power system, real-time simulation, recurrent neural network, small volumes.

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Section: B Circuit 2: Hydraulic Cylinder Controlled By a Directional ...mentioning

confidence: 99%

A Hybrid Model for Fast and Efficient Simulation of Fluid Power Circuits With Small Volumes Utilizing a Recurrent Neural Network

Ustinov

Handroos

2022

IEEE Access

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“…In the first case V 1 = 10 −3 m 3 , i.e., the volume between compensator and control throttle is quite large. The condition number of (11) in the chosen operating point for this case is κ = 1.28. In the second case the volume is reduced to V 1 = 10 −5 m 3 and the corresponding condition number becomes as large as κ = 77.81.…”

Section: A Circuit 1: Two-way Flow Control Valvementioning

confidence: 99%

“…Numerical stiffness of the model directly affects the simulation time, which is the vital aspect in real-time simulation in mechatronic applications. For instance, such problem is highlighted in [11], where authors try to solve a problem of real-time simulation of the excavator which is related to numerical stiffness in fluid power model. In order to achieve the real-time simulation speed, the model was divided into multiple sub-models for parallel execution and a local stiff integration solver was applied to the hydraulic sub-models.…”

Section: Introductionmentioning

confidence: 99%

Computationally Efficient Practical Method for Solving the Dynamics of Fluid Power Circuits in the Presence of Singularities

Malysheva

Ustinov

Handroos

2021

IEEE/ASME Trans. Mechatron.

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In this paper, a practical method is proposed for the efficient solution of fluid power systems with singularities originating (in particular) from the presence in the system of small volumes. The method is based on the use of an enhanced version of the pseudo-dynamic solver (the advanced pseudodynamic solver), which seeks the steady-state solution of pressure building up in the small volume. This solver can be attributed to the class of explicit solvers. There are two main advantages of the proposed solver. The first is the higher accuracy and numerical stability of the solution compared with the classical pseudodynamic solver, owing to the enhanced solver structure and the use of an adaptive convergence criterion. The second is the faster calculation time compared with conventional integration methods such as the fourth-order Runge-Kutta method, owing to the obtained possibility of larger integration time step usage. Thus, the advanced pseudo-dynamic solver can become a preferred method in the simulation of complex fluid power circuits. Simulation results of the C code implementation confirm that the advanced pseudo-dynamic solver is better than conventional solvers for the solution of the real-time systems that include fluid power components with small volumes.

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“…In this approach, the equations of motion describe a force equilibrium for the mechanical system under consideration. This approach allows to describe systems of other physical nature, such as hydraulic actuators [32,33,43]. Hydraulic systems are highly nonlinear systems, which are caused, in part, by the friction model of the hydraulic cylinders.…”

Section: Introductionmentioning

confidence: 99%

Efficiency comparison of various friction models of a hydraulic cylinder in the framework of multibody system dynamics

2021

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Dynamic simulation of mechanical systems can be performed using a multibody system dynamics approach. The approach allows to account systems of other physical nature, such as hydraulic actuators. In such systems, the nonlinearity and numerical stiffness introduced by the friction model of the hydraulic cylinders can be an important aspect to consider in the modeling because it can lead to poor computational efficiency. This paper couples various friction models of a hydraulic cylinder with the equations of motion of a hydraulically actuated multibody system in a monolithic framework. To this end, two static friction models, the Bengisu–Akay model and Brown–McPhee model, and two dynamic friction models, the LuGre model and modified LuGre model, are considered in this work. A hydraulically actuated four-bar mechanism is exemplified as a case study. The four modeling approaches are compared based on the work cycle, friction force, energy balance, and numerical efficiency. It is concluded that the Brown–McPhee approach is numerically the most efficient approach and it is well able to describe usual friction characteristics in dynamic simulation of hydraulically actuated multibody systems.

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A coupled hydraulic and mechanical system simulation for hydraulic excavators

Cited by 13 publications

References 21 publications

A Hybrid Model for Fast and Efficient Simulation of Fluid Power Circuits With Small Volumes Utilizing a Recurrent Neural Network

A Hybrid Model for Fast and Efficient Simulation of Fluid Power Circuits With Small Volumes Utilizing a Recurrent Neural Network

Computationally Efficient Practical Method for Solving the Dynamics of Fluid Power Circuits in the Presence of Singularities

Efficiency comparison of various friction models of a hydraulic cylinder in the framework of multibody system dynamics

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