Design Study of a High Speed Power Unit for Electro Hydraulic Actuators (EHA) in Mobile Applications PDF Download
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Author: Tobias Pietrzyk
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Author: Tobias Pietrzyk
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Author: William Robert Gerlach
Publisher:
ISBN:
Category :
Languages : en
Pages : 146
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Author: Vladimir Pastrakuljic
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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This thesis addresses the issues of design and mathematical model identification of an advanced hydraulic system referred to as Electro Hydraulic Actuator (EHA). In the design part, insights into system design methodology are presented and used for the EHA prototype manufacturing. To get better knowledge of the system behavior, extensive open loop tests were performed. Test results are presented in the time and frequency domain, and it was concluded that system behavior is nonlinear. In the modeling part, a nonlinear mathematical model of the EHA is derived. Some of the unknown model parameters had to be identified experimentally by optimization. The last step in the system mathematical modeling was open and closed loop model validation using the experimental data. Proposed nonlinear mathematical model gives good correspondence with experimental data and can be used for system studying or controller design. Performed test show that the EHA system has high positioning accuracy (0.01mm), fairly high bandwidth (23 Hz with 20kg inertial load) and is easy to control. It shows significant benefits when compared to conventional hydraulic systems in the areas of control, efficiency and physical dimensions.
Author: Bruno Siciliano
Publisher: Springer Nature
ISBN: 303071151X
Category : Technology & Engineering
Languages : en
Pages : 630
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This book is the volume of the proceedings for the 17th Edition of ISER. The goal of ISER (International Symposium on Experimental Robotics) symposia is to provide a single-track forum on the current developments and new directions of experimental robotics. The series has traditionally attracted a wide readership of researchers and practitioners interested to the advances and innovations of robotics technology. The 54 contributions cover a wide range of topics in robotics and are organized in 9 chapters: aerial robots, design and prototyping, field robotics, human‒robot interaction, machine learning, mapping and localization, multi-robots, perception, planning and control. Experimental validation of algorithms, concepts, or techniques is the common thread running through this large research collection. Chapter “A New Conversion Method to Evaluate the Hazard Potential of Collaborative Robots in Free Collisions” is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Author: Frank Yeaple
Publisher: CRC Press
ISBN: 9780824795627
Category : Science
Languages : en
Pages : 862
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Maintaining and enhancing the high standards and excellent features that made the previous editions so popular, this book presents engineering and application information to incorporate, control, predict, and measure the performance of all fluid power components in hydraulic or pneumatic systems. Detailing developments in the ongoing "electronic revolution" of fluid power control, the third edition offers new and enlarged coverage of microprocessor control, "smart" actuators, virtual displays, position sensors, computer-aided design, performance testing, noise reduction, on-screen simulation of complex branch-flow networks, important engineering terms and conversion units, and more.
Author: Elmira Amrollah
Publisher:
ISBN:
Category :
Languages : en
Pages : 238
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The goal of the present work is to study the internal parameters of an integrated electro-hydraulic actuator (IEHA) for robotic applications, as well as identifying the influence of each parameter on the behaviour of the system, depending on the specified task to accomplish. Compactness of IEHA makes it difficult to measure the internal variables of the system, such as micro-pump's leakage, and internal pressure drop, while it is important to study the effect of configuring the internal variables on the behaviour and energy efficiency of the system, before modifying the latter in future prototypes. Hence, development of a model of the actuator will help us identify the different issues of the system and propose new solutions to improve its dynamic behaviour. The effectiveness of the developed virtual model allows for quick and accurate evaluation of the internal parameters early in the design and development stage. The mechanism and dynamic equations of IEHA are presented. The actuator is simulated firstly by implementing the dynamic models in MATLAB-Simulink environment, and secondly in MATLAB-SimHydraulics. The different parameters and hydraulic phenomena that play a crucial role in the performance of the system are discussed. Optimizing these parameters improves the mechanical energy efficiency, volumetric efficiency, and response time of the overall system. The concept of energy storage and its implementation in the architecture of IEHA is presented. Examples of periodic tasks (jumping, walking) are used to show how a good energy storage strategy could make the actuator autonomous and smaller in terms of necessary hydraulic sources.
Author: Gilbert Ray Hardesty
Publisher:
ISBN:
Category :
Languages : en
Pages : 86
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Author: Shaoyang Qu
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Author: Samuel Kärnell
Publisher: Linköping University Electronic Press
ISBN: 9179298303
Category :
Languages : en
Pages : 72
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More and more vehicles are being electrified. Mobile working machines and heavy trucks are not excluded, and these machines are often hydraulically intense. Electrification entails new requirements for the hydraulic system and its components, and these requirements must be taken into consideration. Hydraulic systems have looked similar for a long time, but now there is an opportunity to advance. Many things change when a diesel engine is replaced with an electric motor. For example, variable-speed control becomes more relevant, electric regeneration becomes possible, and the use of multiple prime movers becomes an attractive alternative. The noise from the hydraulic system will also be more noticeable when the diesel engine is gone. Furthermore, the introduction of batteries to the system makes the energy more valuable, since batteries are heavy and costly compared to a diesel tank. Therefore, it is commercially viable to invest in the hydraulic system. This thesis revolves around the heart of the hydraulic system, that also is the root of all evil. That is the pump. Traditionally, a pump has had either a fixed displacement or a continuously variable displacement. Here, the focus is on something in between, namely a pump with discrete displacement. The idea of discrete displacement is far from unique, but has not been investigated in detail in combination with variable speed before. In this thesis, a novel design for a quiet pump with discrete displacement is presented and analysed. The results show that discrete displacement is relevant from an energy perspective for machines working extensively at high pressure levels and with low flow rates, and that a few discrete values are enough to make a significant difference. However, for other cycles, the possible energy gains are very limited, but the discrete displacement can be a valuable feature if downsizing the electric machine is of interest.
Author: Jaroslav Ivantysyn
Publisher:
ISBN: 9788188305087
Category : Hydraulic motors
Languages : en
Pages : 512
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