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19th International Conference of Fluid Power and Mechatronic Control Engineering 2018

作者： Yi, Yali Gao, Yunfei Wei, Rui Jin, Herong College of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China

A highly efficient integrated transmission unit - external generating wave movable teeth transmission − was proposed and two kinds of typical transmission types were researched. Fixed and moving coordinate systems were established based on movable teeth transmission theory. On the basis of the profile of a wave generator, the teeth profile equations of ring gear were deduced by using the transform matrix and profile enveloping principle. The effects of the teeth number of the ring gear, generating wave coefficient, and tooth profile coefficient on the profile of the ring gear were investigated. The formula for calculating curvature radius of the ring gear was given. The pressure angle formulas were deduced, and the change rule of the pressure angle extremum was researched to obtain a continuous transmission condition. The relationship between design parameters and performance effect was analysed based on the analysis of the curvature and pressure angle. The results show that the transmission precision reached 97.67%, and the proper design parameters could guarantee transmission performance. Those researches lay a theoretical foundation for the design and application of an external generating wave movable teeth title. © 2019 Institution of Engineering and technology. All rights reserved.

关键词： Gear teeth

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Kinematic Characteristics and Dynamics Analysis of a Double-ring Truss Deployable Antenna Mechanism

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Binggong Xuebao/Acta Armamentarii 2020年第4期41卷 810-821页

作者： Han, Bo Xu, Yundou Yao, Jiantao Zheng, Dong Li, Yongjie Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University QinhuangdaoHebei066004 China

A double-ring truss deployable antenna mechanism, which is used as the support and deployment mechanism for large-diameter space-borne antenna, is proposed to improve the stiffness of the single-ring truss deployable antenna with large diameter. The structural decomposition of double-ring truss deployable antenna mechanism is conducted, the screw constraint topology graph of the closed-loop deployable mechanism unit is drawn, and the degree of freedom (DOF) of the mechanism is analyzed. The analyzed result shows that the double-ring truss deployable mechanism has only one DOF. The screw velocity of each component in the mechanism is analyzed based on screw theory, the angular velocity and centroid linear velocity of each component are obtained through vector operation, and the Jacobian matrixes are also obtained. Furthermore, the screw accelerations of the components in the mechanism are derived based on the screw derivative, and the angular acceleration and centroid linear acceleration of each component in the double-ring truss mechanism are obtained. A dynamic model of the double-ring truss mechanism is established based on Newton-Euler equation and virtual work principle, and the numerical calculation and simulation verification are carried out. The research results show that the theoretical analysis is correct. The proposed double-ring truss deployable antenna mechanism has a simple structure, and can be smoothly deployed with only one input drive, the kinematic and dynamic analysis method based on screw theory used in this paper has a clear physical meaning, the analysis process is relatively stylized and is easy to program. © 2020, Editorial Board of Acta Armamentarii. All right reserved.

关键词： Screws

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Research on double differential pressure dynamic flowmeter

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High technology Letters 2019年第4期25卷 378-385页

作者： Liu Tao Zuo Zhibing Yin Zhigang Hebei Province Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan UniversityQinhuangdao 066004P.R.China Key Laboratory of Education Ministry for Advanced Forging Press Technology and Science Yanshan UniversityQinhuangdao 066004P.R.China

When testing an electrohydraulic proportional valve,it is necessary to test the high frequency dynamic flow with *** of the limitation of the piston stroke,a no-load hydraulic cylinder is only suitable for a reciprocating symmetrical dynamic flow *** the traditional differential pressure flowmeter is affected by viscosity and inertia of the fluid,it is only suitable for measuring steady ***,a new type of double pressure differential dynamic flowmeter is designed to improve the traditional differential pressure *** influence of fluid viscosity and inertia in the flow process are negated by subtracting the differential pressure in section expansion from the differential pressure in section *** double differential pressure flowmeter is modeled and a flow meter prototype is ***,the flow coefficients are identified and corrected by a practical ***,the dynamic performance and steady-state precision of the flowmeter are verified by comparing with the test results of the no-load hydraulic *** double differential pressure dynamic flowmeter is proven to measure dynamic flow accurately,especially at higher dynamic frequencies.

关键词： dynamic flowmeter double differential pressure contrast experiment coefficient correction

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Multi-PID controller parameters optimization of fast forging hydraulic press based on GA

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (science and technology) 2016年第8期47卷 2650-2660页

作者： Zhao, Jinsong Zhang, Yang Cao, Xiaoming Yao, Jing Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

Parameters optimization method of multi-PID controller based on improved genetic algorithm was presented in response to the mismatch problems between PID parameters and working conditions and the improvement in forging precision. The expert database of parameter adjustment was established for different working conditions to optimize speed forging hydraulic press control characteristics. Firstly, the mathematical model of electro-hydraulic servo system controlled independently by Four-channel-load ports was founded based on the mechanism modeling method. On this basis, the identification experiment based on 0.6 MN fast forging hydraulic press electro-hydraulic servo system experimental platform was completed. Secondly, the parameters of PID controller were optimized by improved genetic algorithm under different working conditions, and the effectiveness of the genetic algorithm was analyzed via simulation. Finally, the control effect of optimized PID was verified on 0.6 MN fast forging hydraulic press electro-hydraulic servo system experimental platform. The results show that multi-PID controller optimized by genetic algorithm makes forging precision of fast forging hydraulic press system improved to ±1 mm, which can widely improve the adaptability in different work conditions. © 2016, Central South University Press. All right reserved.

关键词： Controllers

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Simulation Research of Hydraulic Turbine Generator under Fuzzy PID Control with Load Disturbance and 100% Load Rejection

Simulation Research of Hydraulic Turbine Generator under Fuz...

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2015 International Conference on Fluid Power and Mechatronics

作者： Yuan Xiaoming Wang Chao Wang Junbo Ma Lei Zhang Lijie Hebei Key Laboratory of Heavy Mechinery Fluid Power Transimission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan university)Yanshan university

The MATLAB/Simulink simulation model of hydraulic turbine generator under 100% load rejection is established. The hydraulic turbine generator with the condition of load disturbance and 100% load rejection under fuzzy PID and PID control is simulated, and the changes of the speed, guide vane and water torque in hydraulic turbine generator are obtained. The advantages and disadvantages of the two control methods are compared, which provides references for the practical application of fuzzy PID control.

关键词： Speed regulating system of hydraulic turbine generator fuzzy PID control MATLAB/Simulink simulation model 100% load rejection

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Study on principles and characteristics of new type digital hydraulic transformation 8

Study on principles and characteristics of new type digital ...

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8th IEEE International Conference on Fluid Power and Mechatronics, FPM 2019

作者： Tao, Liu Yang, Zhao Renfu, Sun Weijian, Li Xinyu, Zhang Hebei Province Laboratory of Heavy Machinery Fluid Power Transmission and Control Qinhuangdao China Key Laboratory of Ministry of Education for Advanced Forging Press Forming Technology and Science Qinhuangdao China

ISBN: (纸本)9781728103112

The hydraulic transformer is usually composed of a pair of pump-motor units. When inlet pressure is stable, the outlet pressure can be controlled by changing the displacement ratio between the pump unit and motor unit. Theoretically, there is no throttling and overflow loss, so it attracts much attention in fluid transmission field. However, most of the existing hydraulic transformers are controlled by the displacement-varying mechanism, with slow response and small range of transformer ratio. Therefore, a new type of digital hydraulic transformer was proposed. The main body is a group of gear pump motor units, which are installed in coaxial direction, and the displacement ratios between these units is arranged according to 2n in every inlet and outlet of these gear pump motor units, there are digital switch valves to realize the digital control of pressure change. Using simulation software AMESIM, the conversion process of digital hydraulic transformer is simulated and analyzed, the characteristics of pressure, flow and transformation ratio are verified during the working process. The characteristics of transformer under constant voltage network were tested by building an experimental platform. By changing the pressure and load of constant voltage network, the working characteristics of digital hydraulic transformer under different working conditions are studied. The feasibility of the variable pressure principle is verified, and the energy saving characteristics of the digital hydraulic transformer are proved. © 2019 IEEE.

关键词： Energy conservation

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Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation Robot

Research on Fuzzy PID Control Algorithm for Lower Limb Rehab...

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IEEE Information technology and Mechatronics Engineering Conference (ITOEC)

作者： Hongbo Wang Tingting Lu Baoshan Niu Hao Yan Xincheng Wang Jianyu Chen Yungui Li Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province

ISBN: (纸本)9781538653746

Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.

关键词： Training Rehabilitation robotics Legged locomotion PI control PD control Robot sensing systems

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Hydraulic Pump Fault Multi Information Sensitivity Analysis Based on the Vibration Intensity

Hydraulic Pump Fault Multi Information Sensitivity Analysis ...

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第六届工程机械与车辆工程新进展国际学术会议

作者： Li Xiao-ming Liu Si-yuan Zhang Jian-jiao Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Scienc(Yanshan University)e Ministry of Education of China Yanshan University

Due to the fuzziness and incompleteness of hydraulic pump single fault signal,sometimes we cannot accurately assess the working state of hydraulic *** extracting the characteristic vector

关键词：

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Profile Division and Programmatic Modeling of Tetrahedral Truss Deployable Antennas

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Zhongguo Jixie Gongcheng/China Mechanical Engineering 2019年第12期30卷 1400-1408页

作者： Han, Bo Xu, Yundou Guo, Luyao Zhang, Shuo Yao, Jiantao Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University QinhuangdaoHebei066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University QinhuangdaoHebei066004 China

Tetrahedral truss deployable antennas were studied, and a simple profile division method was proposed. Based on MATLAB and SOLIDWORKS, a programmatic modeling method was proposed. Custom software development for SOLIDWORKS was completed by VBA programming language, and visual operation interfaces were designed. Two examples of deployable antenna mechanisms were used to verify the correctness of the profile division method and the programmatic modeling processes. The proposed profile division method proposed herein is simple and the quality of the profile mesh is good, the method of programmatic modeling is convenient and quick to model the antenna mechanisms, and the overall design efficiency is greatly improved. © 2019, China Mechanical Engineering Magazine Office. All right reserved.

关键词： MATLAB

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Embodied water analysis for Hebei Province, China by input-output modelling

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Frontiers of Earth science 2018年第1期12卷 72-85页

作者： Siyuan LIU Mengyao HAN Xudong WU Xiaofang WU Zhi LI Xiaohua XIA Xi JI Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao 066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao 066004 China Institute of Geographic Sciences and Natural Resources Research Chinese Academy of Sciences Beijing 100101 China College of Engineering Peking University Beijing 100871 China School of Economics Renmin University of China Beijing 100872 China School of Economics Peking University Beijing 100871 China

With the accelerating coordinated development of the Beijing-Tianjin-Hebei region, regional eco- nomic integration is recognized as a national strategy. As water scarcity places Hebei Province in a dilemma, it is of critical importance for Hebei Province to balance water resources as well as make full use of its unique advantages in the transition to sustainable development. To our knowledge, related embodied water accounting analysis has been conducted for Beijing and Tianjin, while similar works with the focus on Hebei are not found. In this paper, using the most complete and recent statistics available for Hebei Province, the embodied water use in Hebei Province is analyzed in detail. Based on input-output analysis, it presents a complete set of systems accounting framework for water resources. In addition, a database of embodied water intensity is proposed which is applicable to both intermediate inputs and final demand. The result suggests that the total amount of embodied water in final demand is 10.62 billion m3, of which the water embodied in urban household consumption accounts for more than half. As a net embodied water importer, the water embodied in the commodity trade in Hebei Province is 17.20 billion m3. The outcome of this work implies that it is particularly urgent to adjust industrial structure and trade policies for water conservation, to upgrade technology and to improve water utilization. As a result, to relieve water shortages in Hebei Province, it is of crucial importance to regulate the balance of water use within the province, thus balancing water distribution in the various industrial sectors.

关键词： input-output analysis Hebei Province embo-died water embodied water intensity

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