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International Conference on Fluid Power and Mechatronics (FPM)

作者： Ling Zhao Linlin Ge Yafei Yang Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China Qinhuangdao China School of Electrical Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9781479987719

Active disturbance rejection control is proposed to study the problems on trajectory tracking and decoupling for a two-joint system driven by pneumatic artificial muscles. Because of coupling and nonlinearity, it is very hard to obtain good performance in trajectory tracking for the two-joint system. The active disturbance rejection nonlinear controller includes a tracking differentiator, an extended state observer and a nonlinear error feedback controller. The tracking differentiator is introduced to arrange a transitional process to track input signal and get differential signal. The extended state observer is designed to estimate the non-linearity of system. The nonlinear error feedback controller is designed to improve the performance of system. Simulation results are given to show the effectiveness of proposed controller in this paper.

关键词： Muscles Observers Control systems Simulation Robust control Mathematical model

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An Approach of Power Allocation Scheme for Relay Communication Networks Based on Seller-Buyer Game

An Approach of Power Allocation Scheme for Relay Communicati...

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第三十四届中国控制会议

作者： Peng Zhang Zhixin Liu Ling Zhao Hongjiu Yang Xinbin Li Institute of Electrical Engineering Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical Engineering Yanshan University

ISBN: (纸本)9781467374439

In this paper, a robust optimization problem is formulated for decode-and-forward relay network via game *** uncertainty of channel gain is considered to overcome the performance degradation in practical environment. In this study,a probability threshold method is used to suppress the channel fluctuation. Besides, a seller-buyer game is formulated to jointly consider the maximum utility of source node and relay node. To reduce the overhead information exchanging, a distributed iteration algorithm is applied. Numerical results show the effectiveness of the proposed schemes, and also present the robustness of the relay network. Moreover, the proposed game is proved to converge to the unique equilibrium point.

关键词： Relay network game theory robust optimization outage probability distributed algorithm

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Research on two kinds of servo control elements effect on highly integrated valve-controlled cylinder

Research on two kinds of servo control elements effect on hi...

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2015 International Conference on Fluid Power and Mechatronics

作者： BA Kaixian YU Bin CAO Yuan WANG Zitong KONG Xiangdong School of Mechanical Engineering Yanshan University 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

The joint drive of quadruped robot, the highly integrated valve-controlled cylinder(HIVC), whose control performance could effect on the whole machine of the robot directly. In this paper, based on the structure principles of flow servo valve and pressure-flow servo valve, the mathematical models of above two kinds of servo valve are established to analyze their dynamical performance respectively. To ensure the accuracy of the analysis results, the flow gain of above two kinds of servo valve are unified, then using them for force close loop control of HIVC on the performance test platform of HIVC, the effects of step force and sinusoidal force on the force control performance of HIVC with different forward channel gain are tested, moreover, the force control performance of HIVC under different frequency position disturbance are tested. The test results indicates both flow servo valve and pressure-flow servo valve can realize force close loop control of HIVC, but by comparison, due to the load pressure which is existed in pressureflow servo valve power level spool equilibrium process, the output flow decrease sharply with load force increasing, which can lead the load force control performance of HIVC which consists of pressure-flow servo valve is inferior to those which consists of flow servo valve. All the research conclusions can provide a theoretical and experimental foundation for the selection of servo control element of HIVC.

关键词： Quadruped robot Highly integrated valvecontrolled cylinder Force control system Flow servo valve pressure-flow servo valve

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Study of ADRC on Fluid Power Transmission System Control Characteristics of 60MN Hydraulic press

Study of ADRC on Fluid Power Transmission System Control Cha...

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2015 International Conference on Fluid Power and Mechatronics

作者： FENG Jingchang YU Bin LI Xuebing YAO Jing KONG Xiangdong GUO Haixin School of Mechanical Engineering Yanshan University 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

Heavy forgings quality and production capacity represent an important symbol of the level of the country's industrial development. Large water press is the equipment for heavy forgings forming, and it's essential to improve the control performance of power transmission system. In this paper, the mathematical models of the key elements for fluid power transmission system, including water pump, accumulator, inlet valve, outlet valve, main distributor, prefill valve, pipeline, actuator, load, working medium, electro-hydraulic servo system, are established, and the complete mathematical model of fluid power transmission system is derived. Based on the mathematical model of electro-hydraulic position servo control system of hydraulic press, the load characteristics of the electro-hydraulic position servo control system are analyzed, the strategy of active disturbance rejection control(ADRC) is derived, the principle of selecting the control parameters is obtained. Furthermore, the effect of ADRC control and PI control of hydraulic press is analyzed under no load, step, sinusoidal and ramp disturbance force respectively. The results show that: compared to the PI control, the ADRC can make distributor more rapid and sensitive, and improve the control performance and anti-disturbance capability of electro-hydraulic servo system of hydraulic press, and improve the overall response speed and compensate the position control accuracy under the lowfrequency disturbances. Above research work can provide theoretical and experimental basis for studying on control method of fluid power transmission system of 60 MN hydraulic press.

关键词： Hydraulic press Fluid power transmission system Electro-hydraulic servo system Main distributor Active disturbance rejection control

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The energy saving factor research of secondary regulation system of cement coating machine

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ICIC Express Letters, Part B: Applications 2015年第11期6卷 3077-3084页

作者： Kong, Xiangdong Luo, Hongliang Ai, Chao He, Long Dong, Yanwu Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China No. 438 Hebei Avenue Qinhuangdao China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University No. 438 Hebei Avenue Qinhuangdao China

The cement coating machine is widely used, but it wastes a lot of energy when braking. In order to overcome the weakness, secondary regulation system is put forward to recycle energy. Firstly the secondary regulation speed control system is proposed. Then the mathematical model of hydraulic secondary regulation system is established, and efficiency calculation method is derived. At last, through the simulation analysis and experimental verification, the feasibility of energy saving project is proved. With bigger slope and lower hydraulic pressure, the system can recycle more energy. © 2015 ICIC International.

关键词： Energy conservation

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Fault diagnosis method for hydraulic pump based on order tracking

Fault diagnosis method for hydraulic pump based on order tra...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Wanlu Jiang Yong Zhu Meng Wang Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9781479987719

Aiming at the problem of extracting fault features from hydraulic pump under variable rotating speed, a fault diagnosis method based on order tracking was proposed. Firstly, the original signal was decomposed by ensemble empirical mode decomposition into a series of intrinsic mode function (IMF) components. Afterwards, the fault sensitive IMF was selected by combining energy spectrum and spectral kurtosis. Secondly, the selected IMF was processed by Hilbert demodulation and down-sampling. Moreover, an appropriate frequency band was chosen and the signal was further processed by wavelet cluster-based bandpass filtering. Then, the fault sensitive envelope signal was obtained. Thirdly, the instantaneous frequency was extracted from the envelop signal by wavelet ridge tracking, and the time instant of phase discrimination was further calculated. Moreover, the even angle spaced resample was performed to the envelope signal. Then, the time domain non-stationary signal was transformed to the angular domain stationary signal. Finally, the stationary signal was analyzed by order tracking, and the fault diagnosis was executed according to the order spectrum. Furthermore, an application was performed to the vibration signals of hydraulic pump under variable rotating speed. The signals were respectively acquired in four typical states, which were normal, loose slipper, slipper wear and swash plate wear. Results indicate that the proposed method can effectively extract the fault features of hydraulic pump and further realize fault diagnosis.

关键词： Vibrations Fault diagnosis Feature extraction Time-domain analysis Pumps Valves Demodulation

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Active Disturbance Rejection Trajectory Tracking Control for Two-Joint Driven by Pneumatic Artificial Muscles

Active Disturbance Rejection Trajectory Tracking Control for...

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2015 International Conference on Fluid Power and Mechatronics

作者： Ling Zhao Linlin Ge Yafei Yang Hebei Province Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China School of Electrical Engineering Yanshan University

关键词： Active disturbance rejection control two-joint system decoupling control pneumatic artificial muscle

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A precise frequency-domain integral method of vibration acceleration signal

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ICIC Express Letters 2015年第6期9卷 1617-1624页

作者： Zhu, Yong Jiang, Wanlu Hu, Haosong Kang, Hongzhi Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University No. 438 Hebei Street Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University No. 438 Hebei Street Qinhuangdao China

Aiming at the defects of traditional frequency-domain integral (TFDI), a precise FDI (PFDI) based on vibration intensity (VI) and feature component extraction (FCE) was proposed. This method applied the merits of ensemble empirical mode decomposition (EEMD), and merged the superiorities of kurtosis, mean square error, energy and singular value decomposition (SVD) on feature extraction. The connotative feature components were extracted, and the desired signal was precisely reconstructed. Meanwhile, the optimal lower limit of cut-off frequency was determined according to the mutation feature of VI. Results indicate that the interference problem of invalid signal is commendably solved. Moreover, the low-frequency error is effectively overcome. © 2015 ICIC International.

关键词： Mean square error

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Incentives of nonlinear dynamics behaviors in electro-hydraulic servo system

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ICIC Express Letters 2015年第1期9卷 231-236页

作者： Zhu, Yong Jiang, Wanlu Liu, Siyuan Liu, Zhiqiang Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University No. 438 Hebei Street Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University No. 438 Hebei Street Qinhuangdao China

Based on the nonlinear dynamics principle, the nonlinear dynamic model of electro-hydraulic servo system (EHSS) was established. The influence laws of nonlinear spring force and friction on dynamic characteristics of EHSS were explored. Moreover, the bifurcation characteristics arising from primary excitations were investigated. The incentives of nonlinear dynamics behaviors (NDBs) in EHSS were revealed. Results show that the dynamic differential equations of EHSS can be described by Duffing-Van Der Pol equation. When EHSS is in working, excitation force, spring force nonlinear term and damping can result in complicated NDBs. The results can provide theoretical guidance for the parameter optimization during EHSS designing.

关键词： Dynamics

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Principle of Multi-roller Straightening Process and Quantitative Resolutions of Straightening Strategies

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Journal of Iron and Steel Research International 2014年第9期21卷 823-829页

作者： Jing YIN Jun ZHAO Shi-yan WANG Xian-song WAN Yue-lin LI College of Mechanical Engineering Ningbo University of Technology Key Laboratory of Advanced Forging and Stamping Technology and Science(Yanshan University) Ministry of Education of China CISDI R&D Co. Ltd.

The multi-roller straightening process of section steel is analyzed by the springback theory of small curva- ture plane bending. The theoretical analysis results prove the curvature unification in straightening process and clear- ly reveal the principle of the multi-roller straightening process. The principle can be described as~ the initial curva- tures are reduced by several times anti-bendingl meanwhile the initial curvature differences are diminished and the residual curvatures are unified~ finally, the member after curvature unification is straightened by the last anti-ben- ding. With the plastic region ratios becoming larger, the initial curvatures are more easily unified in straightening process. Based on the plastic region ratios and the required number of roller systems for unifying the initial curva- tures, the large deformation straightening strategy and the small deformation straightening strategy are redefined. The new definition provides an important theoretical basis for setting reliable reduction rules. Through the theoretical analysis results, a new straightener design philosophy is proposed to improve the straightening quality and further increase the adjustment precision as well as the flexibility of the last roller system. The adjustable end roller emerges as the times required, achieving a good effect in practical application.

关键词： section steel multi-roller straightening curvature unification plastic region ratio straightening strategy

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