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Nonlinear mathematical modeling and sensitivity analysis of hydraulic drive unit

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Abstract

The previous sensitivity analysis researches are not accurate enough and also have the limited reference value, because those mathematical models are relatively simple and the change of the load and the initial displacement changes of the piston are ignored, even experiment verification is not conducted. Therefore, in view of deficiencies above, a nonlinear mathematical model is established in this paper, including dynamic characteristics of servo valve, nonlinear characteristics of pressure-flow, initial displacement of servo cylinder piston and friction nonlinearity. The transfer function block diagram is built for the hydraulic drive unit closed loop position control, as well as the state equations. Through deriving the time-varying coefficient items matrix and time-varying free items matrix of sensitivity equations respectively, the expression of sensitivity equations based on the nonlinear mathematical model are obtained. According to structure parameters of hydraulic drive unit, working parameters, fluid transmission characteristics and measured friction-velocity curves, the simulation analysis of hydraulic drive unit is completed on the MATLAB/Simulink simulation platform with the displacement step 2 mm, 5 mm and 10 mm, respectively. The simulation results indicate that the developed nonlinear mathematical model is sufficient by comparing the characteristic curves of experimental step response and simulation step response under different constant load. Then, the sensitivity function time-history curves of seventeen parameters are obtained, basing on each state vector time-history curve of step response characteristic. The maximum value of displacement variation percentage and the sum of displacement variation absolute values in the sampling time are both taken as sensitivity indexes. The sensitivity indexes values above are calculated and shown visually in histograms under different working conditions, and change rules are analyzed. Then the sensitivity indexes values of four measurable parameters, such as supply pressure, proportional gain, initial position of servo cylinder piston and load force, are verified experimentally on test platform of hydraulic drive unit, and the experimental research shows that the sensitivity analysis results obtained through simulation are approximate to the test results. This research indicates each parameter sensitivity characteristics of hydraulic drive unit, the performance-affected main parameters and secondary parameters are got under different working conditions, which will provide the theoretical foundation for the control compensation and structure optimization of hydraulic drive unit.

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Authors and Affiliations

  1. National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment, Yanshan University, Qinhuangdao, 066004, China

    Xiangdong Kong & Lingxiao Quan

  2. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao, 066004, China

    Xiangdong Kong & Lingxiao Quan

  3. School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Bin Yu, Kaixian Ba & Liujie Wu

Authors
  1. Xiangdong Kong
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  2. Bin Yu
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  3. Lingxiao Quan
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  4. Kaixian Ba
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  5. Liujie Wu
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Corresponding author

Correspondence to Bin Yu.

Additional information

Supported by National Key Basic Research Program of China (973 Program, Grant No. 2014CB046405), Hebei Provincial Applied Basic Research Program (Grant No. 12962147D), National Natural Science Foundation of China (Grant No. 51375423)

KONG Xiangdong, born in 1959, is currently a professor at Yanshan University, China. He received his PhD degree from Yanshan University, China, in 1988. His main research interests include electro-hydraulic servo control system and Heavy machinery fluid transmission and control.

YU Bin, born in 1985, is currently a lecture at Yanshan University, China. His research interest is fluid transmission and control.

QUAN Lingxiao, born in 1976, is currently a A.D. at Yanshan University, China. His research interest is electro-hydraulic servo control system.

BA Kaixian, born in 1989, is currently a PhD candidate at Yanshan University, China. His research interest is modeling in servo control system.

WU Liujie, born in 1989, is currently a master candidate at Yanshan University, China. His research interest is redundant force restraining of load simulation system.

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Kong, X., Yu, B., Quan, L. et al. Nonlinear mathematical modeling and sensitivity analysis of hydraulic drive unit. Chin. J. Mech. Eng. 28, 999–1011 (2015). https://doi.org/10.3901/CJME.2015.0626.083

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  • DOI: https://doi.org/10.3901/CJME.2015.0626.083

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