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学者姓名：杜恒
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Abstract ：
In the composite material hydraulic press, the mismatched velocities between the movable beam and the multiple leveling cylinders produce disturbing superfluous forces, and the eccentric torque causes the movable beam to tilt when pressed. They severely damage the leveling displacement accuracy and limit the implementation of muti-cylinder system in higher precision field. A dual-loop leveling control strategy is proposed, comprising a dual-valve parallel pressure inner loop and an adaptive control displacement outer loop. Firstly, a dual-valve parallel scheme is proposed in the pressure inner loop, where a compensation valve is added in parallel with the original single-valve. A variable compensation valve spool algorithm is designed, considering both velocity and displacement to mitigate the effects of superfluous forces and achieve precise and smooth leveling. Secondly, a control strategy for the adaptive displacement outer loop is designed to estimate and compensate for eccentric torque. An innovative torque decoupling algorithm is formulated to overcome the challenge of indeterminate coupling relations between inner and outer loops caused by the adaptive incorporation of dual-loop control. Then, eccentric load compensation torque is decoupled to the multiple leveling cylinders and derives the desired pressure for the inner loop. The inner loop suppresses the disturbance of eccentric torque to enhance robust leveling precision. Finally, the effectiveness of the proposed strategy was validated through experimentation on the constructed hydraulic press leveling system test bench. The control strategy presented in this paper provides a reference for achieving smooth and precise control in multi-cylinder systems.
Keyword ：
Dual-loop control Dual-loop control Dual-valve parallel Dual-valve parallel Eccentric torque adaptive estimation Eccentric torque adaptive estimation Multiple-cylinder leveling system Multiple-cylinder leveling system Multiple-cylinder torque decoupling Multiple-cylinder torque decoupling
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| GB/T 7714 | Du, Heng , Wu, Ye , Zhang, Zhizhong et al. Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression [J]. | MECHATRONICS , 2024 , 104 . |
| MLA | Du, Heng et al. "Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression" . | MECHATRONICS 104 (2024) . |
| APA | Du, Heng , Wu, Ye , Zhang, Zhizhong , Wang, Qigang , Luo, Jiahe , Fang, Jinghui . Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression . | MECHATRONICS , 2024 , 104 . |
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The current, electromagnetic force, and dynamic displacement of the high-speed on/off valve's (HSV) electromechanical converter under stable working cycle are significantly different from those under the initial movement cycle. This phenomenon determines whether the electromechanical converter can continue to operate stably, and it also leads to temperature rise and high energy consumption over long periods of time. Therefore, in this study, a high-precision model is proposed that can fully analyze the characteristics of the electromechanical converter under multiple motion cycles with the consideration of the effects of eddy current and hysteresis. First, the hysteresis loop of the material is tested, and the Jiles-Atherton hysteresis model is identified based on the test data and verified through experiments. Second, the fundamental reasons for the differences in current and electromagnetic forces between initial motion and stable motion are analyzed. On this basis, a new law of dynamic evolution of electromechanical converters under multiple motion cycles is discovered. Finally, the important influence of hysteresis characteristics and eddy current on the dynamic performance and energy loss of the electromechanical converter under multiple motion cycles is analyzed. The effects of frequency, voltage, and external resistance on the dynamic characteristics and energy loss of electromechanical converters have also been analyzed. The results indicate that as the voltage increases, the response time decreases, but the eddy current loss increases. An increase in external resistance will increase response time but reduce eddy current losses. This study can provide a theoretical basis for further improving the performance of electromechanical converters.
Keyword ：
Eddy current Eddy current Eddy currents Eddy currents electromechanical converter electromechanical converter energy consumption energy consumption high-speed on/off valve (HSV) high-speed on/off valve (HSV) hysteresis hysteresis Soft magnetic materials Soft magnetic materials
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| GB/T 7714 | Chen, Shaorong , Li, Qizheng , Huang, Hui et al. Dynamic Characteristics and Energy Consumption of Electromechanical Converter of High-Speed On/Off Valve Under Multiple Motion Cycles Considering Eddy Current and Hysteresis [J]. | IEEE TRANSACTIONS ON MAGNETICS , 2024 , 60 (3) . |
| MLA | Chen, Shaorong et al. "Dynamic Characteristics and Energy Consumption of Electromechanical Converter of High-Speed On/Off Valve Under Multiple Motion Cycles Considering Eddy Current and Hysteresis" . | IEEE TRANSACTIONS ON MAGNETICS 60 . 3 (2024) . |
| APA | Chen, Shaorong , Li, Qizheng , Huang, Hui , Chen, Shumei , Du, Heng , Li, Yuzheng et al. Dynamic Characteristics and Energy Consumption of Electromechanical Converter of High-Speed On/Off Valve Under Multiple Motion Cycles Considering Eddy Current and Hysteresis . | IEEE TRANSACTIONS ON MAGNETICS , 2024 , 60 (3) . |
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Low-frequency response, strong nonlinearity and unknown disturbances are the main challenges faced by the engineering application of the pump-controlled electro-hydraulic steering systems (EHSSs) for heavy vehicles. To solve the above problems, an active disturbance suppression controller is proposed based on a variable rate reaching law (VRRL) and a terminal sliding mode observer (TSMO) in the framework of the sliding mode control. This controller is unique because, the VRRL introduces a nonlinear activation function, which enables smooth switching between multiple reaching rates, effectively improving the response speed and the disturbance rejection performance of the pump-controlled EHSS. Furthermore, an adaptive incomplete disturbance compensation control strategy is proposed by incorporating a TSMO to further improve the accuracy and robustness of the steering system, which employs a VRRL-based TSMO to realize accurate estimation of the lumped disturbance in finite time, and avoids controller overcompensation by selecting a preferred disturbance compensation coefficient. The stability analysis demonstrates that the proposed controller effectively suppresses the lumped disturbance and reduces the convergence domain of the steering system. A pump-controlled EHSS experimental bench is constructed, and a series of experiments are conducted with various steering frequencies and load conditions, which validate the ability of the proposed controller to achieve highprecision dynamic steering in all-terrain conditions of the pump-controlled EHSS for heavy vehicles.
Keyword ：
Heavy vehicles Heavy vehicles Pump-controlled electro-hydraulic steering Pump-controlled electro-hydraulic steering Sliding mode control Sliding mode control system system Terminal sliding mode observer Terminal sliding mode observer Variable rate reaching law Variable rate reaching law
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| GB/T 7714 | Li, Su , Zhang, Zhizhong , Ding, Kaiyi et al. High-dynamic steering control of the pump-controlled electro-hydraulic steering system for heavy vehicles with active disturbance suppression [J]. | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS , 2024 , 361 (15) . |
| MLA | Li, Su et al. "High-dynamic steering control of the pump-controlled electro-hydraulic steering system for heavy vehicles with active disturbance suppression" . | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 361 . 15 (2024) . |
| APA | Li, Su , Zhang, Zhizhong , Ding, Kaiyi , Guo, Kun , Zhao, Jingyi , Du, Heng . High-dynamic steering control of the pump-controlled electro-hydraulic steering system for heavy vehicles with active disturbance suppression . | JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS , 2024 , 361 (15) . |
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Steering system of heavy vehicle facing intelligent and green development needs to satisfy the requirements of high precision and energy-efficient dynamic steering. Traditional steering systems use valved servo systems, which offer high steering accuracy but result in significant energy dissipation at the valve ports. In contrast, the variable speed pump control system (VSPCS) realizes the precise servo of steering system through direct volume control, which basically eliminates the energy dissipation at the valve port. However, the VSPCS lacks sufficient system stiffness due to low back pressure, making it difficult to achieve precise steering. To address these limitations, this paper proposes a back pressure controllable variable speed pump controlled steering system scheme (BCVSPCSS), which combines the energy-efficient flow supply of the VSPCS with a servo-proportional valve is used for back pressure control to, improving the dynamic performance of the system. This integration allows for precise steering while maintaining energy efficiency; The design of a dual objective nonlinear control strategy for angle and back pressure is crucial to deal with uncertainty and nonlinearity in the system. The Lyapunov analysis shows that the closed-loop system has asymptotic stability. In this paper, the experimental bench of BCVSPCSS is built for experimental verification. The results show that back pressure control effectively enhances the system's immunity. Under the same working conditions, the maximum angle error of the two systems is roughly the same, both around 1 degrees, while the energy consumption of BCVSPCSS is reduced by about 84.6% compared to the valve controlled steering system.
Keyword ：
back pressure back pressure energy saving control energy saving control Steering system of heavy vehicle Steering system of heavy vehicle steering tracking steering tracking variable speed pump control system variable speed pump control system
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| GB/T 7714 | Du, Heng , Li, Hanjin , Ding, Kaiyi et al. Research on energy saving and control characteristics of back pressure controllable variable speed pump controlled steering system for heavy vehicles [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2024 . |
| MLA | Du, Heng et al. "Research on energy saving and control characteristics of back pressure controllable variable speed pump controlled steering system for heavy vehicles" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING (2024) . |
| APA | Du, Heng , Li, Hanjin , Ding, Kaiyi , Li, Su , Yu, Jianchao . Research on energy saving and control characteristics of back pressure controllable variable speed pump controlled steering system for heavy vehicles . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2024 . |
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Heavy-duty vehicles with long bodies, a large number of axles and large loads are subject to increasingly high requirements for precise steering technology due to the increasing trend toward energy conservation and intelligent assisted driving as well as variable driving conditions. In this paper, an energy-efficient open circuit variable-speed pump-controlled steering system (OPCEHSSS) adapted for heavy loads is used, but its strong flow output nonlinearity and system nonlinear dynamic behavior greatly impede the steering performance. Therefore, in order to reduce the influence of the flow leakage of the fixed-displacement pump on the system and to ensure that the flow output of the system matches the control model, a mapping model based on the fitting of a two-layer neural network algorithm with a dynamic real-time compensation strategy (FNC) is proposed. In addition, considering the strong robustness of the system even under parameter uncertainty and unknown disturbance, a complex nonlinear mathematical model is established based on OPCEHSSS physical characteristics, and a dual-objective control strategy of steering angle and pressure based on sliding mode control (SMC) is proposed. However, in order to reduce the influence of high-order switching discontinuity on the steering and ensure the fast convergence of the control system, a fast super twisting algorithm (STA) based on double saturation function of the boundary layer is proposed. The experimental results show that the three different controllers can effectively reduce the steering angle error after the introduction of FNC. And in the case of a single axle loaded with 6 tons, the improved new FNC+STA integrated dual-objective control strategy improves the accuracy by 53.16% compared with PID and 40.67% compared with SMC. The steady-state error is maintained within 0.9 degrees, realizing the high-performance steering tracking control of OPCEHSSS for heavy vehicles.
Keyword ：
dual-objective control dual-objective control flow nonlinear mapping and compensation flow nonlinear mapping and compensation Heavy vehicle steering system Heavy vehicle steering system pump control system pump control system steering tracking steering tracking super twisting algorithm super twisting algorithm two-layer neural network algorithm two-layer neural network algorithm
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| GB/T 7714 | Lin, Xiezhao , Xu, Jun , Yu, Jianchao et al. High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2024 . |
| MLA | Lin, Xiezhao et al. "High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING (2024) . |
| APA | Lin, Xiezhao , Xu, Jun , Yu, Jianchao , Zhang, Xiaolong , Zheng, Yulan , Li, Su et al. High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2024 . |
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Abstract ：
高速开关阀是航天领域动力系统的关键元件，需要具备高频响和高可靠性。然而，高速开关阀的开关特性会使系统产生水击现象，降低系统的可靠性，尤其是在高速开关阀高频切换过程中会产生更多的水击压力波，致使系统中的水击变得更加复杂。因此，采用仿真和实验相结合的方法对不同频率下水击压力脉动的变化进行分析，最终通过对数据时域和频域的分析，发现了高速开关阀的水击压力脉动规律，研究结果可在航天动力系统中应用。
Keyword ：
压力脉动 压力脉动 水击 水击 频率 频率 高速开关阀 高速开关阀
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| GB/T 7714 | 李雨铮 , 陈福龙 , 邓少贤 et al. 双线圈高速开关阀的水击特性验证 [J]. | 宇航总体技术 , 2024 , 8 (02) : 46-52 . |
| MLA | 李雨铮 et al. "双线圈高速开关阀的水击特性验证" . | 宇航总体技术 8 . 02 (2024) : 46-52 . |
| APA | 李雨铮 , 陈福龙 , 邓少贤 , 杜恒 , 生凯章 . 双线圈高速开关阀的水击特性验证 . | 宇航总体技术 , 2024 , 8 (02) , 46-52 . |
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压力脉动主动抑制是提升数字液压阀控系统控制精度和可靠性的关键技术.然而,目前主动抑制方法在对压力脉动进行抑制时缺乏对其特性的深入理解,导致抑制效果不理想.因此,设计了压力脉动测试试验台,分析了系统中不同位置压力脉动的变化情况,探索了液压泵、高速开关阀对不同位置压力脉动的影响.结果表明:数字液压阀控系统中压力脉动的主要来自于高速开关阀持续开/关引起的水击现象,并且压力脉动的频率始终与阀的开/关频率保持一致.为设计前馈的压力脉动主动抑制系统提供了新思路,同时也为研发更高效的压力脉动衰减器提供了参考.
Keyword ：
压力脉动 压力脉动 数字液压 数字液压 试验分析 试验分析 高速开关阀 高速开关阀
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| GB/T 7714 | 陈福龙 , 杜恒 , 李雨铮 et al. 数字液压阀控系统中压力脉动试验 [J]. | 液压与气动 , 2024 , 48 (10) : 136-142 . |
| MLA | 陈福龙 et al. "数字液压阀控系统中压力脉动试验" . | 液压与气动 48 . 10 (2024) : 136-142 . |
| APA | 陈福龙 , 杜恒 , 李雨铮 , 周时钊 , 李福气 , 马玉山 . 数字液压阀控系统中压力脉动试验 . | 液压与气动 , 2024 , 48 (10) , 136-142 . |
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液压柱塞马达在工作状态下振动噪声剧烈,针对削弱内部声振源和外部壳体结构优化的传统减振降噪方案设计难度大、优化成本高的问题,提出了在液压柱塞马达壳体敷设约束阻尼层的减振降噪方法.进行液压柱塞马达的动力学模型和液压模型耦合仿真,得到液压柱塞马达内部对壳体的振动激励.以振动激励作为载荷,结合强迫响应分析和基于模态声传递向量法的声压仿真,得到马达壳体的模态参与因子和声学板块贡献量,从而精确阻尼层敷设区域.通过对约束阻尼层进行有限元建模分析,研究阻尼层材料参数对振动抑制的影响,选择合适的阻尼层材料.在半消声室内对敷设约束阻尼层前后的液压柱塞马达进行多工况下平均声压级测试.结果表明:在峰值噪声频率下,约束阻尼层能将液压柱塞马达的噪声至少降低2 dB.
Keyword ：
减振降噪 减振降噪 声学板块贡献量 声学板块贡献量 模态参与因子 模态参与因子 液压柱塞马达 液压柱塞马达 约束阻尼层 约束阻尼层
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| GB/T 7714 | 张圳 , 黄惠 , 杜恒 et al. 液压柱塞马达的约束阻尼层降噪研究 [J]. | 液压与气动 , 2024 , 48 (10) : 158-169 . |
| MLA | 张圳 et al. "液压柱塞马达的约束阻尼层降噪研究" . | 液压与气动 48 . 10 (2024) : 158-169 . |
| APA | 张圳 , 黄惠 , 杜恒 , 李雨铮 , 苏俊收 . 液压柱塞马达的约束阻尼层降噪研究 . | 液压与气动 , 2024 , 48 (10) , 158-169 . |
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Abstract ：
斜轴式轴向柱塞马达内部噪声源距离较近，如马达配流盘进、出油口间的距离为38 mm，且马达噪声源存在同频及倍频现象。斜轴式马达内部密集复杂的噪声源，导致频谱分析方法难以准确识别同频及倍频信号，传统声强测量的最高分辨率为50 mm，无法满足马达内部噪声源的辨识精度要求。针对传统方法难以准确辨识马达噪声源的问题，文中提出了一种基于压缩感知的声强测量方法，将压缩感知理论运用于声强云图高精度重构中，获取马达高分辨率的声强重构图像。首先，通过对斜轴式马达进行噪声辐射仿真分析，获取其外表面声场特性；然后，以马达外表面声强云图为先验信息，设计应用于马达声场的压缩感知框架，获取高精度重构马达声强云图；最后，通过马达传统声强测量与压缩感知声强测量的对比实验验证压缩感知理论对于提高马达噪声源辨识精度的可行性。结果表明，基于压缩感知的声强测量方法将马达噪声源辨识尺度从原来的70 mm提升至30 mm，提高了马达噪声源的辨识精度，实现了马达噪声源的高精度定位。
Keyword ：
压缩感知 压缩感知 声强测量 声强测量 声源高精度定位 声源高精度定位 斜轴式马达 斜轴式马达
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| GB/T 7714 | 陈淑梅 , 罗远明 , 黄惠 et al. 压缩感知在斜轴式马达声强成像中的应用研究 [J]. | 华南理工大学学报(自然科学版) , 2024 , 52 (04) : 68-76 . |
| MLA | 陈淑梅 et al. "压缩感知在斜轴式马达声强成像中的应用研究" . | 华南理工大学学报(自然科学版) 52 . 04 (2024) : 68-76 . |
| APA | 陈淑梅 , 罗远明 , 黄惠 , 吴干永 , 黄秋芳 , 钱聪 et al. 压缩感知在斜轴式马达声强成像中的应用研究 . | 华南理工大学学报(自然科学版) , 2024 , 52 (04) , 68-76 . |
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Heavy multi-axle vehicles with long bodies, large loads, and many steering axles are prone to one stuck axle with its steering system failed, which leads to a sharp drop in vehicle safety. Modulating the steering angles of the remaining non-faulty axles for compensation control can significantly improve the safety of the vehicle. Therefore, this paper proposes a method based on multi-axle steering compensation, which solves the large trajectory error, and instability of heavy multi-axle vehicles caused by the failure of one-axle steering system. Firstly, based on the Lyapunov method, and nonlinear model, the critical steering angle of the faulty axle leading to vehicle instability under the failure of one-axle steering system is clarified, which provides a quantitative index for vehicle stability evaluation. Then, a two-level controller is designed to maintain stability and reduce trajectory error of the faulty vehicle. The upper dual-input dual-output (DIDO) sliding mode controller (SMC) compensates for the faulty vehicle's lateral force and yaw moment. And the lower controller distributes the non-faulty axles' steering angles through a strategy considering tire workload and slip energy dissipation. Finally, a seven-axle vehicle model in the Trucksim and a Trucksim-Simulink co-simulation are used to verify the effectiveness of the proposed method. The results illustrate that the proposed method can maintain vehicle stability and reduce the lateral trajectory error by about 22%-91% in the failure of one-axle steering system. It proves that this method can provide a new scheme for active safety control of heavy multi-axle vehicles.
Keyword ：
active safety active safety compensation control compensation control coordination coordination Heavy vehicles Heavy vehicles multi-axle steering multi-axle steering trajectory tracking trajectory tracking
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| GB/T 7714 | Liu, Qihui , Du, Heng , Yu, Yajin et al. Research on active safety control for heavy multi-axle vehicles under steering system failure [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2023 , 238 (9) : 2544-2556 . |
| MLA | Liu, Qihui et al. "Research on active safety control for heavy multi-axle vehicles under steering system failure" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 238 . 9 (2023) : 2544-2556 . |
| APA | Liu, Qihui , Du, Heng , Yu, Yajin , Huang, Hui , Wang, Yunchao , Fang, Jinhui . Research on active safety control for heavy multi-axle vehicles under steering system failure . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2023 , 238 (9) , 2544-2556 . |
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