Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response

Zhao, He; Zhou, Junjie; Ma, Sanxi; Du, S. H.; Liu, Hui; Han, Lijin

doi:10.3390/machines11070685

Cited by 6 publications

(3 citation statements)

References 28 publications

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“…A more precise description should be applied to model the dynamic characteristics during the oscillating process of capsule motion. Considering the capsule as a dynamic system, the hydrodynamic force acting on the capsule represents the excitation of the system, while the motion of the capsule is the response of the system [33]. This perspective allows the excitation as a spatial-temporal variation, and the response is also a variable process.…”

Section: Introductionmentioning

confidence: 99%

Modal Analysis of the Hydrodynamic Force of a Capsule in a Hydraulic Capsule Pipeline

Zhao,

Li,

Sun

2023

JMSE

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Hydrodynamic forces influence the efficiency and safety of pipeline transport in ocean engineering. A capsule pipeline is an example of pipeline transportation. In this work, a dynamic model is proposed to explain the oscillating motion of a capsule in a hydraulic capsule pipeline (HCP). The main study was conducted using a modal analysis of hydrodynamic forces acting on a capsule, which could be divided into frictional drag and pressure drag forces. The results indicated the presence of independent modes with different contributions to the hydrodynamic forces. Ultimately, the first to fiftieth modes represented 94~97.3% of the hydrodynamic force contributions. These modes had their own frequency ranges and power spectrum density (PSD) functions, and the frictional drag and pressure drag were both found to coincide with the narrow-band characteristics of the lower-order modes. However, the PSD functions of the frictional drag were found to fulfill the wide-band characteristics corresponding to the higher-order modes. Then, coherent structures were extracted. As the mode order increased, the vortices became more fragile and the frequency became higher. This phenomenon coincided with an increase in the frequency of the time coefficient peak, which became larger. This work could provide new perspectives on the hydrodynamic forces of pipeline transport, especially its dynamic analysis of the interaction between a rigid capsule and fluid flow.

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Section: Introductionmentioning

confidence: 99%

Modal Analysis of the Hydrodynamic Force of a Capsule in a Hydraulic Capsule Pipeline

Zhao,

Li,

Sun

2023

JMSE

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“…Electro-hydraulic Actuators (EHA), whose design results inter alia from attempts to reduce losses on hydraulic lines, are an important element in this research area. Current works focus on the identifying and describing of the dynamic phenomena which occur in this solution, as their influence has significantly increased due to shortened hydraulic lines [5,6]. Moreover, shortened hydraulic lines and direct connection to the cylinder (closed-loop circuit) cause the system to be increasingly affected by adverse dynamic phenomena in the pump, which have, in effect, again become the object of research interest [7,8].…”

Section: Introductionmentioning

confidence: 99%

Experimental Tests on the Influence of Accumulated Pressure Energy on the Response Time of a Hydraulic Cylinder under External Load Actuated in a Classic and Distributed System Structure

Siwulski

2023

Energies

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The need to develop hydraulic systems having reduced energy-consumption and improved operating parameters has led to an increased interest inter alia in the character of the actuator movement depending on the structure of the hydrostatic power supply system. The state-of-the-art analysis of the response time of the actuated hydraulic cylinder are typically based on the response times of the valves and on the propagation velocity of the pressure wave and have insufficiently focused on the flow of the energy accumulated in the power supply line. This article presents the results of tests which indicate a relationship between the amount of the energy accumulated in the power supply line and the response time of the cylinder and thus demonstrates that this parameter cannot be ignored in such analyses. The presented tests involved a comparative analysis of the results obtained for systems with different valve architectures. The comparison included the actuation times for a cylinder controlled with the classic 3-position valve and for a case with the control valve installed on the cylinder. The results and conclusions presented in this article are of significant utilitarian character and may become an element of further works on the development of electro-hydraulic systems with increased operating parameters.

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“…Our work shows that the solution of the miniature EHA system is reasonable, and it has very awesome dynamic properties. The miniature EHA designed in this paper is not only small in size and simple in structure, but also has good dynamic properties, which are expected to be used in wearable exoskeleton equipment [25,26].…”

mentioning

confidence: 99%

Study of the Dynamic Properties of the Miniature Electro-Hydrostatic Actuator

An,

Mao,

Tong

et al. 2024

Machines

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The electro-hydrostatic actuator (EHA) is a new type of high-performance servo actuator that originated in the field of aerospace, and it is gradually becoming a common basic component for various types of large equipment. A miniature EHA, mainly composed of a micro two-dimensional (2D) piston pump and a brushless DC motor, is designed in this article by simplifying the system structure. This paper analyzes the structure and working principle of this EHA and establishes the mathematical models of the brushless DC motor, micro two-dimensional pump, and hydraulic cylinder. Field-oriented control (FOC) is used to drive the brushless DC motor, and the models of the controller are established in Simulink. Furthermore, the models of the mechanical and hydraulic systems of the miniature EHA are established in AMESim. In addition to this, a prototype of this miniature EHA was fabricated in this paper and an experimental platform was built for experiments. In the joint simulation environment, the rise time of the EHA system at 6000 r/min is 0.158 s and the frequency response amplitude attenuation to −3 dB has a bandwidth of 20 Hz. On the other hand, the constructed miniature EHA prototype was dynamically characterized to obtain a rise time of 0.242 s at 6000 r/min and a bandwidth of 13 Hz. In this paper, the feasibility of the design scheme of the miniature EHA system is verified, and its excellent dynamic properties are verified with simulation and experiment.

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Design and Experiments of Electro-Hydrostatic Actuator for Wheel-Legged Robot with Fast Force Control Response

Cited by 6 publications

References 28 publications

Modal Analysis of the Hydrodynamic Force of a Capsule in a Hydraulic Capsule Pipeline

Modal Analysis of the Hydrodynamic Force of a Capsule in a Hydraulic Capsule Pipeline

Experimental Tests on the Influence of Accumulated Pressure Energy on the Response Time of a Hydraulic Cylinder under External Load Actuated in a Classic and Distributed System Structure

Study of the Dynamic Properties of the Miniature Electro-Hydrostatic Actuator

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