Search Results (118)

The fuel electro-hydraulic servo valve is a core component of the aero-engine fuel control system, playing a crucial role in engine performance. Due to the operational characteristics of the aviation fuel supply and injection system, fuel is directly sprayed through the nozzle for combustion after passing through the pipeline. The working environment and medium are subject to a wide temperature range, and the medium lacks a circulating filtration process, making it difficult to effectively remove impurities. As a result, the fuel contains a high concentration of contaminant particles. Under high-temperature conditions, colloidal particles precipitated from the fuel medium collide and adhere to metallic and other contaminant particles carried by the fuel, subsequently attaching to the internal surfaces of the fuel servo valve, causing valve sticking. This study aims to establish an adhesion criterion suitable for colloidal particles in fuel systems based on a traditional particle collision model. The adhesion criterion incorporates the viscoelastic and surface energy characteristics of colloidal particles, providing a more accurate description of their deposition behavior under the conditions studied. A particle–particle and particle–wall collision test apparatus was designed, and experiments were conducted. A comparison between experimental results and theoretical calculations shows that the overall error for collisions between colloidal particles and walls is controlled within 10%, validating the feasibility of the adhesion criterion. The Young’s modulus, Poisson’s ratio, and surface free energy of the colloidal particles were measured as 688 MPa, 0.39, and 77 mJ/m², respectively. These results provide theoretical and experimental foundations for particle migration and deposition processes in fuel systems. The analytical method clarifies the key mechanism of adhesion caused by colloidal particles, providing guidance for improving the reliability, safety, and maintenance of fuel servo valves in aero-engine applications. Full article

An electro-hydraulic servo loading system for a pavement mechanical properties test device was designed. The simulation analysis and test results showed that the PID control met the design requirements, but the output’s maximum error did not. Therefore, a fast terminal sliding mode control strategy with an extended state observer (ESO) was proposed. A tracking differentiator was constructed to obtain smooth differential signals from the input signals. The order of the system was reduced by considering the third and higher orders of the system as the total disturbance, and the states and the total disturbance of the system were estimated using the ESO. The fast terminal sliding mode control achieved fast convergence of the system within a limited time. The simulation results showed that the proposed control strategy improved the system accuracy and anti-disturbance ability, and system control performance was optimized. Full article

This paper presents some of the most significant findings in the design of a hydraulic servomechanism for flight controls, which were primarily achieved by the first author during his activity in an aviation institute. These results are grouped into four main topics. The first one outlines a classical theory, from the 1950s–1970s, of the analysis of nonlinear automatic systems and namely the issue of absolute stability. The uninformed public may be misled by the adjective “absolute”. This is not a “maximalist” solution of stability but rather highlights in the system of equations a nonlinear function that describes, for the case of hydraulic servomechanisms, the flow-control dependence in the distributor spool. This function is odd, and it is therefore located in quadrants 1 and 3. The decision regarding stability is made within the so-called Lurie problem and is materialized by a matrix inequality, called the Lefschetz condition, which must be satisfied by the parameters of the electrohydraulic servomechanism and also by the components of the control feedback vector. Another approach starts from a classical theorem of V. M. Popov, extended in a stochastic framework by T. Morozan and I. Ursu, which ends with the description of the local and global spool valve flow-control characteristics that ensure stability in the large with respect to bounded perturbations for the mechano-hydraulic servomechanism. We add that a conjecture regarding the more pronounced flexibility of mathematical models in relation to mathematical instruments (theories) was used. Furthermore, the second topic concerns, the importance of the impedance characteristic of the mechano-hydraulic servomechanism in preventing flutter of the flight controls is emphasized. Impedance, also called dynamic stiffness, is defined as the ratio, in a dynamic regime, between the output exerted force (at the actuator rod of the servomechanism) and the displacement induced by this force under the assumption of a blocked input. It is demonstrated in the paper that there are two forms of the impedance function: one that favors the appearance of flutter and another that allows for flutter damping. It is interesting to note that these theoretical considerations were established in the institute’s reports some time before their introduction in the Aviation Regulation AvP.970. However, it was precisely the absence of the impedance criterion in the regulation at the appropriate time that ultimately led, by chance or not, to a disaster: the crash of a prototype due to tailplane flutter. A third topic shows how an important problem in the theory of automatic systems of the 1970s–1980s, namely the robust synthesis of the servomechanism, is formulated, applied and solved in the case of an electrohydraulic servomechanism. In general, the solution of a robust servomechanism problem consists of two distinct components: a servo-compensator, in fact an internal model of the exogenous dynamics, and a stabilizing compensator. These components are adapted in the case of an electrohydraulic servomechanism. In addition to the classical case mentioned above, a synthesis problem of an anti-windup (anti-saturation) compensator is formulated and solved. The fourth topic, and the last one presented in detail, is the synthesis of a fuzzy supervised neurocontrol (FSNC) for the position tracking of an electrohydraulic servomechanism, with experimental validation, in the laboratory, of this control law. The neurocontrol module is designed using a single-layered perceptron architecture. Neurocontrol is in principle optimal, but it is not free from saturation. To this end, in order to counteract saturation, a Mamdani-type fuzzy logic was developed, which takes control when neurocontrol has saturated. It returns to neurocontrol when it returns to normal, respectively, when saturation is eliminated. What distinguishes this FSNC law is its simplicity and efficiency and especially the fact that against quite a few opponents in the field, it still works very well on quite complicated physical systems. Finally, a brief section reviews some recent works by the authors, in which current approaches to hydraulic servomechanisms are presented: the backstepping control synthesis technique, input delay treated with Lyapunov–Krasovskii functionals, and critical stability treated with Lyapunov–Malkin theory. Full article

Fuel electro-hydraulic servo valves are core components in the fuel control system of aero-engines, and their performance directly affects thrust regulation and power output precision. Due to the combustibility of the working medium in fuel systems and the lack of effective circulation filtration, the retention of micron-sized particles within the valve gap can lead to valve spool jamming, which is a critical reliability issue. This study, based on fractal theory and the liquid–solid two-phase flow model, proposes a parametric model for non-ideal surface valve gaps and analyzes the dynamics of particles subjected to drag, lift, and buoyant forces on rough surfaces. By numerically analyzing flow field models with different roughness levels and comparing them with an ideal smooth gap model, the migration characteristics of particles were studied. To verify the accuracy of the model, an upscaled experimental setup was built based on similarity theory, and PIV experiments were conducted for validation. Experimental results show that the particle release position and valve surface roughness significantly affect particle migration time. The weight of the release position on particle migration time is 63%, while the impact of valve surface roughness is 37%. In models with different roughness levels, the particle migration time increases more rapidly for roughness values greater than Ra0.4, while for values less than Ra0.4, the increase in migration time is slower. Furthermore, the study reveals that particle migration trajectories are independent of flow velocity, with velocity only affecting particle migration time. This research provides theoretical support for enhancing the reliability of fuel electro-hydraulic servo valves and offers a new perspective for the design of highly reliable hydraulic components. Full article

With the further implementation and development of the Western Development Strategy, studying the mechanical behavior and deformation characteristics of deep-buried tunnels in layered hard rock under high ground stress conditions holds considerable engineering significance. To study the mechanical properties and long-term deformation and failure characteristics of different bedding stratified rocks, this research employed an MTS815 electro-hydraulic servo rock testing system and a French TOP rheometer. Triaxial compression tests, rheological property tests, and long-term cyclic and unloading tests were conducted on shale samples under varying confining pressures and bedding angles. The results indicate that (1) under triaxial compression, shale demonstrates pronounced anisotropic behavior. When the confining pressure is constant, the peak strength of the rock sample exhibits a “U”-shaped variation with the bedding angle (its minimum value at 60°). For a fixed bedding angle, the peak strength of the rock sample progressively increases as the confining pressure rises. (2) The mode of shale failure varies with the angle: at 0°, shale exhibits conjugate shear failure; at 30°, shear slip failure along the bedding is controlled by the bedding weak plane; at 60° and 90°, failure occurs through the bedding. (3) During the creep process of layered shale, brittle failure characteristics are evident, with microcracks within the sample gradually failing at stress concentration points. The decelerated and stable creep stages are prominent; while the accelerated creep stage is less noticeable, the creep rate increases with increasing stress level. (4) Under low confining pressure, the peak strength during cyclic loading and unloading creep processes is lower than that of conventional triaxial tests when the bedding plane dip angles are 0° and 30°, which is the opposite at 60° and 90°. (5) In the cyclic loading and unloading process, Poisson’s ratio gradually increases, whereas the elastic modulus, shear modulus, and bulk modulus gradually decrease. Full article

The instability of mine roadways is significantly influenced by the coupled effects of groundwater seepage and non-uniform loading. These interactions often induce localized plastic deformation and progressive failure, particularly in the roof and sidewall regions. Seepage elevates pore water pressure and deteriorates the mechanical properties of the rock mass, while non-uniform loading leads to stress concentration. The combined effect facilitates the propagation of microcracks and the formation of shear zones, ultimately resulting in localized instability. This initial damage disrupts the mechanical equilibrium and can evolve into severe geohazards, including roof collapse, water inrush, and rockburst. Therefore, understanding the damage and failure mechanisms of mine roadways at the mesoscale, under the combined influence of stress heterogeneity and hydraulic weakening, is of critical importance based on laboratory experiments and numerical simulations. However, the large scale of in situ roadway structures imposes significant constraints on full-scale physical modeling due to limitations in laboratory space and loading capacity. To address these challenges, a straight-wall circular arch roadway was adopted as the geometric prototype, with a total height of 4 m (2 m for the straight wall and 2 m for the arch), a base width of 4 m, and an arch radius of 2 m. Scaled physical models were fabricated based on geometric similarity principles, using defect-bearing sandstone specimens with dimensions of 100 mm × 30 mm × 100 mm (length × width × height) and pore-type defects measuring 40 mm × 20 mm × 20 mm (base × wall height × arch radius), to replicate the stress distribution and deformation behavior of the prototype. Uniaxial compression tests on water-saturated sandstone specimens were performed using a TAW-2000 electro-hydraulic servo testing system. The failure process was continuously monitored through acoustic emission (AE) techniques and static strain acquisition systems. Concurrently, FLAC^3D 6.0 numerical simulations were employed to analyze the evolution of internal stress fields and the spatial distribution of plastic zones in saturated sandstone containing pore defects. Experimental results indicate that under non-uniform loading, the stress–strain curves of saturated sandstone with pore-type defects typically exhibit four distinct deformation stages. The extent of crack initiation, propagation, and coalescence is strongly correlated with the magnitude and heterogeneity of localized stress concentrations. AE parameters, including ringing counts and peak frequencies, reveal pronounced spatial partitioning. The internal stress field exhibits an overall banded pattern, with localized variations induced by stress anisotropy. Numerical simulation results further show that shear failure zones tend to cluster regionally, while tensile failure zones are more evenly distributed. Additionally, the stress field configuration at the specimen crown significantly influences the dispersion characteristics of the stress–strain response. These findings offer valuable theoretical insights and practical guidance for surrounding rock control, early warning systems, and reinforcement strategies in water-infiltrated mine roadways subjected to non-uniform loading conditions. Full article

An electro-hydraulic servo system based on network control technology has the advantages of remote control, modularisation, and resource sharing. However, the electro-hydraulic servo system itself has the characteristics of strong nonlinearity and parameter uncertainty, combined with the limited communication bandwidth of the network control system, which leads to a poor control effect and limits its application. To solve the above problems, an event-triggered mechanism is introduced to filter redundant data and conserve the communication bandwidth, while a backstepping sliding mode control strategy integrating this event-triggered mechanism with a jamming observer is proposed. A model-based disturbance observer is designed to mitigate external interference effects on system control performance while enhancing robustness and disturbance response capabilities. The global stability of the closed-loop system is analysed using Lyapunov stability theory. The experimental results show that the system displacement tracking error of the controller designed in this paper can reach ±0.001 rad, and the system can reach stability in about 0.5 s. At the same time, it can significantly reduce the amount of data transmission, which effectively solves the problem of the network bandwidth limitation. Full article

To study the mechanical properties of asymmetric K-shaped square tubular joints with built-in stiffening rib lap joints, axial tensile tests were carried out on one K-shaped joint without built-in stiffening ribs and four K-shaped joints with built-in stiffening ribs using an electro-hydraulic servo structural testing system. The effects of the addition of stiffening ribs and the welding method of the stiffening ribs on the mechanical properties were studied comparatively. The failure mode of the K-shaped joint was obtained, and the strain distribution and peak displacement reaction force in the nodal region were analyzed. A finite element analysis of the K-shaped joint was carried out, and the finite element results were compared with the experimental results. The results showed that the addition of transverse reinforcement ribs and more complete welds shared the squeezing effect of the brace on the chord. Arranging more reinforcing ribs in the fittings makes the chord more uniformly stressed and absorbs more energy while increasing the flexural load capacity of the fittings’ side plates. The presence of a weld gives a short-lived temperature increase in the area around the crack, and the buckling of the structure causes the surface temperature in the buckling area to continue to increase for some time. The temperature change successfully localized where the structure was deforming and creating cracks. The addition of the reinforcing ribs resulted in a change in the deformation pattern of the model, and the difference occurred because the flexural capacity of the brace with the added reinforcing ribs was greater than that of the side plate buckling. Full article

Aiming to solve the difficult problem of the miniaturization of servo valves, this paper designs a subminiature two-dimensional (2D) electro-hydraulic servo valve, which realizes the integration of the pilot stage and the power stage and significantly improves the work-to-weight ratio. Meanwhile, a high-power-density brushless DC motor (BLDC) is adopted as the electro-mechanical converter to further reduce the volume and mass. Firstly, the structure and working principle of the two-dimensional (2D) servo valve are described, and the mathematical model of the electro-mechanical converter is established. Aiming at the special working condition of the electro-mechanical converter with high-frequency oscillation at a small turning angle, this paper designs a position–current double closed-loop PID control algorithm based on the framework of the vector control algorithm (FOC). At the same time, the current feedforward compensation technique is included to cope with the high-frequency nonlinear disturbance problem of the electro-mechanical converter. The stability conditions of the electro-mechanical converter and the main valve were established based on the Routh–Hurwitz criterion, and the effects of the control algorithm of the electro-mechanical converter and the main parameters of the main valve on the stability of the system were analyzed. The dynamic and static characteristics of the 2D valve were simulated and analyzed by establishing a joint simulation model in Matlab/Simulink and AMESim. The prototype was fabricated, and the experimental bench was built; the size of the experimental prototype was 31.7 mm × 29.3 mm × 31 mm, and its mass was 73 g. Under a system pressure of 7 MPa, the flow rate of this valve was 5 L/min; the hysteresis loop of the spool-displacement input–output curve was 4.8%, and the linearity was 2.54%, which indicated that it had the ability of high-precision control and that it was suitable for the precision fluid system. The step response time was 7.5 ms, with no overshoot; the frequency response amplitude bandwidth was about 90 Hz (−3 dB); the phase bandwidth was about 95 Hz (−90°); and the dynamic characterization experiment showed that it had a fast response characteristic, which can satisfy the demand of high-frequency and high-dynamic working conditions. Full article

Viscoelastic suspension systems serve as components essential for enhancing ride comfort and structural reliability in tracked bulldozers. However, traditional suspension-damping structures often exhibit high-stiffness and reduced-damping characteristics under low-frequency excitations, limiting their adaptability in complex off-road conditions. This limitation adversely affects the operational safety and comfort of tracked bulldozers, particularly in extreme terrains. This study employs an elastic modulus gradient design, combined with the hysteretic properties of viscoelastic materials, aiming to develop five rubber materials with varying elastic moduli and constitutive parameters for damping-layer applications. Through parametric modeling and finite-element simulations, we systematically analyzed both static and dynamic performance across these five configurations while investigating how damping-layer elastic modulus variations influence dynamic vibration-damping characteristics. The results demonstrate that the S-NR3-NR3-S configuration exhibits superior dynamic vibration-damping performance. Further analysis focused on this optimal configuration’s stiffness characteristics and energy dissipation capacity under different harmonic excitations and maximum compression displacements. Finally, practical validation was conducted through static and dynamic performance testing of physical prototypes using a universal testing machine and electro-hydraulic servo-controlled instrumentation, based on operational conditions of high-power tracked bulldozers. The presented findings and methodologies establish a theoretical foundation for optimizing ride comfort in construction vehicles, demonstrating significant practical applicability and engineering value. Full article

The electro-hydraulic servo valve is a critical component that transforms electrical signals into hydraulic signals, thereby controlling the hydraulic system. It finds extensive application in precision control systems. The stability of the electro-hydraulic servo valve is primarily influenced by the armature assembly. Unlike integral armature assembly, the separated armature assembly, comprising the armature, spring tube, flapper, and feedback spring, is joined through an interference fit, which introduces prestress within the assembly. The existence of prestress may affect the operational mode of the armature assembly. Consequently, this paper investigates the vibration characteristics of the separated armature assembly under interference fit conditions. Comparative analysis reveals that interference fit indeed generates prestress, which cannot be overlooked. To further validate the reliability of the simulation results, the natural frequency of the separated armature assembly is determined by applying a sweeping frequency signal to the torque motor using an electric drive, thereby verifying the feasibility of the simulation analysis. Additionally, the impact of interference on the vibration characteristics of the separated armature assembly is examined, confirming the accuracy of the simulation analysis method based on the interference fit. The research on vibration characteristics of a separated armature assembly provides technical support for the structural optimization design of the electro-hydraulic servo valve, thereby enhancing its performance. Full article

This paper presents a study on the thermal behavior of an electro-hydrostatic servo actuator designed to actuate the ailerons of an airliner. The considered servo actuator was designed using existing commercial off-the-shelf components (electric motor, pump, hydraulic cylinder, valves, hydro-accumulator), and the control part was tuned using numerical simulations performed in SIMCENTER/AMESIM. This study begins with the functional parameters of the components used in the design and uses numerical simulations to test the thermal behavior of the components. A continuous stress spectrum of the servo actuator is considered, with the servo actuator located in a compartment inside the wing. Different external conditions are also considered, such as situations where component wear occurs and component efficiencies deteriorate, thus producing more heat in the system. Based on the energy losses identified, the average efficiency of the studied servo actuator is also evaluated. Full article

The formation of a coal mine roadway cross-section is a primary task of the boom-type roadheader. This paper proposes an intelligent robust control scheme for the cutting head trajectory of a coal mine tunneling robot, which is susceptible to unknown external disturbances, system nonlinearity, and parameter uncertainties. First, the working conditions of the cutting section were analyzed, and a mathematical model was established. Then, a high-gain disturbance observer was designed based on the system model to analyze cutting loads and compensate for uncertainties and disturbances. A sliding mode controller was proposed using the backstepping design method, incorporating a saturation function control term to avoid chattering. The eel foraging optimization algorithm was also improved and used to tune the controller parameters. A simulation model of the system was developed for performance comparison tests. Finally, experimental verification was conducted under actual working conditions in a tunnel face, and the results demonstrated the effectiveness of the proposed control method. Full article

As a representative of multi-functional engineering machinery, the excavator is irreplaceable in the field of engineering construction. To autonomously control the excavator bucket, it is essential to control the position of the bucket hydraulic cylinder. As a consequence of the problem of position tracking control spawned from external disturbance and other factors in the self-mining servo system of excavators, a strategy of sliding mode backstepping control based on the particle swarm optimization algorithm and neural network disturbance observer (PSO-NNDO-SMBC) was recommended accordingly. Meanwhile, the complex disturbance was estimated online and compensated for by the system control input by the universal approximation property of the neural network disturbance observer (NNDO). Afterwards, the uncertainty of control parameters was optimized by the particle swarm optimization algorithm (PSO) and was fed back to the controller parameter input end. Afterwards, a co-simulation model of MATLAB/Simulink (MATLAB2023b) and AMESim (Simcenter Amesim 2304) was established for simulation analysis, and a test bench was set up for comparison and verification. As proven by the experimental results, PSO-NNDO-SMBC possessed strong anti-interference ability. In contrast to the sliding mode backstepping control based on the particle swarm optimization algorithm (PSO-SMBC), the maximum displacement tracking error was lowered by 50.5%. Furthermore, in comparison with the Proportional-Integral-Derivative (PID), the maximum displacement tracking error was decreased by 75.2%, which tremendously optimized the control accuracy of excavator bucket displacement tracking. Full article

To address vibration issues in the operation of a lift-type power catwalk, dynamic analysis was conducted using ADAMS 2020 software. The analysis revealed that the vibrations originate from collisions that occur during the transition from the translation to the climbing phase. A quantitative vibration model was developed using the work–energy theorem, incorporating the coefficient of restitution. Based on this model, a composite disturbance rejection control law was designed, integrating sliding-mode speed planning with active disturbance rejection speed tracking. The MATLAB 2022b/Simulink simulations demonstrated that the ADRC strategy outperforms PID and DDPG control algorithms in terms of robustness. Co-simulation with ADAMS and MATLAB/Simulink confirmed the effectiveness of sliding mode speed planning, resulting in a 13.54% increase in the transport efficiency of lift-type power catwalks for drill pipes. Additionally, the oscillation of the output speed of the electro-hydraulic servo system at the collision point was reduced by 300% and the displacement, velocity, and acceleration fluctuations in the catwalk’s mechanical system were reduced by 85%, 75%, and 90%, respectively. The experiments on a lift-type power catwalk prototype confirmed that the proposed vibration suppression strategy effectively reduces vibrations. Full article