ABSTRACT
This book forms the Proceedings of the Second Symposium on Fluid Power organised by the Japan Hydraulics and Pneumatics Society and held in Tokyo in September 1993. It follows the very succesful First Symposium held in 1989 and presents the latest information on research and industrial activity currently underway in the field of fluid power.
TABLE OF CONTENTS
part |2 pages
PART TWO TECHNICAL REPORTS FROM JAPAN
part |2 pages
PART
chapter 11|6 pages
Research Committee Report: Tribology of hydraulic and research needs for the future
equipment Research Committee on Tribology, Mitsuei IKEYA, Akira OHASHI, and Toshiharu KAZAMA
chapter 13|1 pages
Development of a direct drive servo valve using a
giant magnetostrictive material Hiratsuka , Kanagawa 254 used fields, e.g. aeroplanes, test machines, etc. this type of servovalve needs first stage causes leakage, and the user should take care to keep contamination levels low. For these reasons, the need for direct drive servovalves is increasing. does not first stage
chapter |1 pages
strain induced by a striction level exceeds
magnetic field under a magnetic field of c. 0.03T. (2) high output force the current (3) high response creased, the strength of the (4) high resistance to environ- magnetic field increases and the mental factors strains. This
chapter |1 pages
given actuator size is clear, and CONSTRUCTION CONSIDERATIONS
possible to design high performance and compact actuator. Avoiding Bending Moments simulation conditions as follows: has very high compressive strength, but its tensile strength axisymmetric Additionally, the magneto-
chapter |1 pages
This system achieves cancellation material
using a tube of a has a thermal expansion This actuator uses the tube, and influence the magnetic this system, thermal expansion input, magnetostriction is over strain). there is hysteresis linearity is detected
chapter |2 pages
seen that the linearity is under material
the following This data in results were obtained: parison with that of the nozzle- performance exceeds that flapper type servovalve (under of the nozzle-flapper type indication of servovalve. flow saturation. (2) The actuator designed subject Data bending loads. thermal expansion cancel- Figure 7 shows the step response lation system designed for frequency response of the the actuator. step response feedback control,
chapter |1 pages
that time were not good enough. friction of rubber packing dependent on
electrical sensors, and the test rig, vali- theoretical analysis with the coil type speed sensor. effective areas of the orifice (ori-
chapter |1 pages
theoretical results with the experimental
is the movable mass, Sl and effective area of and
chapter |1 pages
fore, the big test stand large
air that is neces- is in effective area trol of the actuator. the other hand, is complicate that the
chapter |1 pages
this study, a method to calculate
is the cross sectional area of ratio in the case of the nylon tube. In
chapter |3 pages
circuit is a fundamental
cuit. Research Committee deals with this situations of circuits. is solved. In the air is mixed artificially
chapter |1 pages
Elastic Characteristics of Pneu•atic
is of rubber and there is elasticity between piston and cylinder. slip. stretch of if the position
chapter 16|1 pages
Research Committee Report: New application
pneumatics - head note and project summaries
chapter |1 pages
assistive ventilator using negative impedance
detail to design the controller keeps the ratio
chapter |1 pages
of the stability for the
·::::co stability of the system is anallzed results results agreed
chapter |3 pages
operator feeds the next ream again. fluorine resin was coated on the surface of the fork to decrease the
friction factor to prevent the that, the fitted on the fork at the air to side of
chapter |2 pages
for will focus on the following areas:
of a flexible gripper. Its is this It that falls inside the is in parallel am execution collision prediction and
part |2 pages
PART
chapter 19|6 pages
The of multiple independent gains for a
repetitive low frequency duty cycle in a hydraulic system
chapter 21|6 pages
Modeling, analysis and simulation of an
electrohydraulic flight control actuation system including friction
chapter 29|6 pages
Optimum design and dynamic simulation of the
friction pairs between the eccentric crankshaft and the connecting rod in crankshaft piston motors
chapter 31|6 pages
Feasibility study of sliding mode control in the of a variable displacement axial piston
operation pump
chapter 32|1 pages
On hydro-mechanical hybrid transmission
first Hydru-Mechanical Hybrid Transmission(HMHT) hydraulic and motor, has thoretical possible limit. remarkable power operating transmission with various control functions and extremely high power the forward operation should greater availability or progressing in like variable motor in efficiency rotating speed cylinder closely related to compressibility of rotating parts
chapter |1 pages
maintains constant speed as the Plate type)
rotates engineer Renault in 1907, axial piston its efficiency. integrated transmission in increase decrease output speed including reverse revolution, power is transmitted the combination of mechanical-
chapter |1 pages
in 1988 and several tests
carried out to verify specification of the proto type unit: slipper pads of pistons in the cylinder block of shaft. ring valve is driven the relative angle the input shaft
chapter |2 pages
less efficiency in reverse range
complexity of call type, not transmitting route. this that characteristics starting other rotating machines, piston velocity of only as 70 to of contrary, internal static friction force, piston speed starting torque. Piston pump/motor is of rotary Friction force cylinders and
chapter 33|1 pages
Hydraulic servocylinder position control using a fuzzy logic controller
MING-CHANG SHIH, SHU-MING LIAW Department of Mechanical Engineering National Chen-Kung University Tainan, Taiwan, 70107, R.O.C.
chapter |1 pages
cylinder is measured by a linear pulse
is controlled by servovalve ( model number SVD-F11- 7.5-11, Yuken Co., japan ). The load pressure is controlled by a proportional pressure-relief valve. An IBM compati- ble personal computer PC/XT with a 12 thod [6]: ifxis and xis is then ---------------------·-----
chapter |1 pages
Determine the control rules The fuzzy control rules are decided as
follows: if e is , then u P · e if e is PM , then P · e if e is zo+ and Ve is
chapter |1 pages
sen as 100 bar and 10 ms, respectively.
(x), WITHOUT EXTERNAL i=l ,2, ..... 10, and n is the number of variables, and xare the two state variables error e and velocity V the study. process of the fuzzy controller, the scaling factors GE and GCE are equal to 3. Defuzzify the control signal 0.5 and 0.2 , and the parameters p , Through the defuzzyfication process, are equal to 5, -0.2 and 0.2, the control signal u to the servocylin- respectively.
chapter |2 pages
Different Command Input
The application of the fuzzy control reach the command position, the control technique on the hydraulic servocyli- signal is also longer at the saturated ndrer position control is easy to get a level. Besides, owing to the characteristic very satisfactory performance, including of the load pressure relief valve, the the fast response, no overshoot load pressure oscillates till the cylinder small steady state errors.
chapter 37|1 pages
An application of a neural network to adaptive of a servo system
control Institute of Technology rate
chapter |1 pages
Simplified Neural Network first
oil compressibility and <k ) < + + <k ) k) + w k) w ( k -1) + w k) -1) is referred Wt(k+l)=Wt(k)+e owv(k+l) first order
chapter |1 pages
first cycle, effect shown 1n the bottom of
3 shows an example results of first results of
chapter 40|6 pages
Digital control of an HST system with load cylinder
operated differential pulse width modulation
chapter 44|1 pages
Factors affecting accurate measurement of fluid of fluid power pumps
borne noise characteristics
chapter |1 pages
of the first
tion of the zero and first-order Bessel differential ratio can be finit series forms of Bessel functions[?], at several different harmonics of fluid power lot of ,-----·----.,
chapter |1 pages
significant harmonic is to the
is the interesting is to is found that both the first- >--------
chapter |1 pages
P2/ I p2i I ex-p(j'P2i) =
If strain pressure sensors in the i=l, 2, •...•• results is desired that is, to similarity of the sensing to a blocked pipeline, the is the transfer function result
chapter |1 pages
are modified to represent the real values pressure results taken from
this modification includes both hard- fluid in the effect to change the configuration of the sensing of the locations of in hydraulic fluid British
chapter 46|1 pages
A new prediction method of operating moment and of a swash plate type axial piston
cylinder pressure pump
chapter |1 pages
calculate the cylinder pressure and
the operating moment is developed. at bottom center to be analized
chapter |1 pages
the swash plate. The swash plate angle and Asl are functions
= sec effects of the rotational tan a) =R(wtanasinElrasec tan -w tan l)ln
chapter |3 pages
the swash plate angle supporting system. of the
of the new prediction method, the pump is tested. Temperature of the characteristics of of the swash strain gauge
chapter 49|1 pages
Numerical and experimental flow visualization
unsteady flow in a spool valve of Mechanical Engineering, of Technology,
chapter |1 pages
hydraulic and pneumatic power shear layers from the edges of the orifice of the interest in the of lines flow in the valve chamber, many
of sources is N and investigations by experimental and of elemental vortices shed isM. been only a little amount of
chapter |2 pages
absolute value of average velocity of the second cycle. The periodic variations of the jet flow development
of the of the process of of valve opening for Vs=85mm/s. In the of the first cycle shown m Fig. 4(a). of the second cycle during L= I.
chapter |1 pages
Fig. 5(b). The broken lines shown in Fig. 5 show the value calculated by conformal mapping assuming the steady and
of the jet angle of the first cycle is
chapter |2 pages
that can maintain the 45 phase margin is
influence on the frequency response Tc/ A, assuming thatevKKqKf't is not
chapter 53|1 pages
A study on characteristics of flow control and
pressure control of a PWM controlled logic valve Institute of Technology
chapter |1 pages
suitable for a real circuit of with a logic valve in var1ous ways. rate. A logic static characteristics
is not easy to control flow rate or pilot valve which L.--i
chapter |1 pages
logic valve opens and closes logic valve is shown. Pressure
relief ratio of a signal. orifice pilot orifice of in diameter ratio because of (f), It that
chapter |1 pages
Static Characteristics
ratio of a circuit through a is operated by a signal. ratio of less than 0.5,
chapter 54|1 pages
Research on improving dynamic characteristics
counter balance valve Institute People's Republic of China lifting, stretching
chapter |1 pages
characteristics. this paper
set for balance circuit consisting of pilot operated counter balance valve. Then. digital simulation in time and frequency domains valve control piston, descending) are parallel. respectively; in the pilot operated viscous valve, they are embedded for coefficients of spool, configuration. pilot pitching piston, typical p1·oducts are as type respectively; valve opening; leakage coefficient of pipes; spring rigidity; section area gradient of throttling spool; WA.s=qz forces acting spool and pilot,
chapter |1 pages
of main spool; pilot, l tota o contro ]-Kc
piston 1/3 spring; equivalent of load. implifications are -X(S)] variation of load inertia inertial force with pitching angle varying are ignored because pitch velocity is usually =--------------------------------
chapter |1 pages
piston; etc.
This paper puts the emphasis on influences of the flow section area gain the spring +By)- characteristics. the expression of the system open- gain seen that the main valve flow coefficient Kry=-- ;Tz=- directly proportional the flow area gain W stability. It
chapter |3 pages
In the former research , some flow pa-in downstream (Al A6)
valve is done, this remarkable
chapter |1 pages
Therefore, flow rate Q is determined in the cylindrical hole and the outer diam-proportion to the angular displacement eter of the sleeves. clearence
electrical feedback of the this valve serves as an electro- if the metering
chapter 0|1 pages
5(£/s)/V, and the linearity of the viscosity of the fluid that surrounds
rolls. stand of the rolling mill
chapter |1 pages
has two channels of hydraulic control
test unit lic roll positioning system to compare
chapter 63|6 pages
On possibility of suppressing self-excited of relief and check valves by actions on
oscillations pipeline performance
chapter |2 pages
theoretical relations. The spool works are given by a four ports valve
resolution in the low flow rates range is not good because of without the transient instability. Figure 6 transient characteristics of the
chapter |1 pages
actuator's
is achieved. fig.3. inclination an- is a system which controls de- is determined the se- rate according to lection of and Bt, where is in- trol which is a function of load sens- instabil- is a dead band of ity, because fundamental nature of dif- this value ferential pressure constant control is determined compromise of stabil- ity and exactness of control.
chapter |2 pages
variable pressure compensator. this program, interference of each
is attached to control in this program. The other parts are same Stability of load sensing system line volume· reduction (b) treats stability. is, piping design is desirable it control is fundamentally an ele- rate
chapter |1 pages
contrary, fig.(b) is the case static characteristics
at control, relief pressure level
chapter |1 pages
fig. 10. comparison of simulation re-
sults between conventional and is shown. This simulation sup- light load port are throttle their openings, is ramp, 3 second from zero to half rate, Pc: cylinder pressure). That teristic for self sys- differential pressure by the action of at large rate
chapter 67|2 pages
Walking control system of drilling platform,
extra-shallow sea walking type 'Shenli 2'
chapter |1 pages
lift fall of the inner body and the From the transfer function, it is
clear that the operation of lifting the is the operation of state equations of x=Ax+Bu
chapter |2 pages
to 3.5, considering the requirement of the Walking under Water static
relative in the step is inclination of that error of the trial of the cylinder the outer is less the at the error of the four cylinders first the inner the is less It is to say that the performance of the
chapter 69|6 pages
Analysis of surge pressure generated by fluid of
column separation in pressure control system vehicle
chapter 70|8 pages
Analysis of an electro-hydraulic position control
servo-system using transmission-line modelling (TLM)
chapter 71|4 pages
Optimum design of bearing/seal parts for hydraulic
equipment on mixed lubrication Toshiharu KAZAMA and Atsushi YAMAGUCHI
chapter 72|4 pages
Silting of capillary flow passage due to solid
particles Tae Young HWANG and Atsushi YAMAGUCHI
chapter 75|1 pages
Simulation analysis of pressure fluctuation for of cooling fan
hydrostatic driving system
chapter 76|1 pages
Unity between steady and transitional state simulation for hydraulic systems
Institute for Fluid Transmission Control state rate state rate state value initial state value
chapter |1 pages
is discussed the after the excitinwith
etc., the backstroke should state variables, all of will initial states of the next
chapter |1 pages
variations of in voluille
state indexes is application relief stead; state responce curves. state sLnulatio,l
chapter 77|1 pages
Exploratory development for 3D CAD in hydraulics
aided geometric modelling, several facilities of hydraulic design
chapter |1 pages
fact, main problem in these designs prototypes are produced. the fluid
pipelines than holes in a difficult to decide the geometric manifold structure of a block with a great number interpenetrating holes. Unless one has tried, this concluded to easy deceptively simple outward
chapter |1 pages
could easily obtained, application-specific functions with
Manifold Block Design impossible to solve particular problems A program mathched to design and directly, because that the process to manufacture of manifold blocks, establish a model in commercial packages developei modelling of a unfamiliar to designers. great block is the initial step of design. attention paid to develop the model is can detect the
chapter |1 pages
situation of bore connections. confirm the whole layout. the
hole, obi ique angle etc. Using design insidious thin walls modification activities are well intersections. Finally, will generate for block manufacture. data of a manifold block is typical data of standardised bore inputted, are stored in
chapter |1 pages
functions are similar to s. hydraulic component design. With
Collision of pipes will be detected potential capabilities, modelling plays all kinds of views are excellent role in solving this kind of av al iable from the model ( Fig. . its application field will necessary, the distance between more wide in hydraulics in the futhure. objects could be calculated automatically. But model is not very popular important reason is the difficult manipulate and long response time. In specialised development, the suitable
chapter 80|1 pages
Dynamic characteristics of pneumatic cylinder with
variable orifices Institute of Technology,
chapter |1 pages
in these years [1]. For examp-
It can be proved that simulation is the fer the characteristic analysis can be its stroke, trol system. report shows the results test of the cylinder used as a pro-
chapter |2 pages
position of the first point.
is related to its finally softly. Its stroke time has been
chapter |2 pages
tal condition, close agreements are ob- control
orifices. In addition the effect orifices are properly
chapter 81|1 pages
Modeling pneumatic position servo realized with commercial components
Institute of Hydraulics is to increasing supply of
chapter |1 pages
Friction Forces theoretical force of cylinder,
is friction is coeff. of vise. friction is coefficient is velocity It is to that is is adiabatic,
chapter 83|1 pages
Study on the condensation of water in a pneumatic
system after a rapid discharge of air)
chapter |2 pages
difference, g the
initial conditions are in the cylinder which were calculated air of 20°C, blew out at time
chapter 84|2 pages
Numerical study of characteristics of pressure of compressed air in a long pipe installing
reduction branch pipes
chapter |1 pages
air is set up of
restriction set. Fig. 4 shows restriction, heat transfer arises. consider this phenomena
chapter |3 pages
Fig. 5 shows calculation grid in settles slowly than the charge case.
result of charge response. result of result of discharge distribution along the tube. Figure air in figure restriction is In of restriction or in the tube. Figure restriction sometimes stuffed with in the tube. ice. Experimental results and results show same tendency. effect on velocity
chapter 88|1 pages
A study on acceleration waveform control of an
electrohydraulic servo system using linear-model-following control Institute of Technology
chapter |1 pages
signal is rearranged as follows.
is composed of ircuit c is given by the following equa-
chapter |2 pages
that of the reference model. tus, the frequency response with control
this figure, stability of the system. illustrate the effective- is the reason the stiffness of
chapter 90|7 pages
Numerical optimization for self-tuning electrohydraulic control systems Abstract
Petter Krus
chapter 93|3 pages
A new measurement of the fuel injection rate of
diesel engine fuel pump based on transmission line dynamics
chapter 95|1 pages
Discrete-vortex simulation of two-dimensional and
axisymmetric flow in a disk valve Institute of
chapter |1 pages
r il!v,
axial effects of the valve disk radius the representing the layers, the circulation of wall orifice are investigated. difference between the two- irrotational dis- into the valve; an under-bar
chapter |1 pages
disk radius as shown in Figure
circulation of the vortex ring jet exit velocity rings -----1
chapter |1 pages
free stream line theory
than the results of especially in small layer reattach the valve inlet plane is analyzed results that jet angle the discharge
chapter 96|1 pages
Numerical analysis of transient flow through a pipe
orifice: time constant for the setting flow
chapter 97|6 pages
Experimental identification and modelling of flow
and torque losses in gerotor hydraulic motors
chapter 98|1 pages
Active control of pneumatic vibration isolation table of freedom controller
using two degrees
chapter |1 pages
of and Ki in the PI control
filter, Vibration Characteristics of Plant is applied to control voltage of is effective to increase the after the disturbance
chapter |1 pages
this control system, both positioning satisfactory control system.
realize the reasonable control system, sensitivity function as performance this offer the
chapter 99|1 pages
Grasping a sheet of paper by using pneumatic
actuated finger of Precision Engineering of Science and Technology, Meiji University Higashimita 1-1-1, Tama-ku, Kawasaki-shi 214, Japan widely in the factory machines. Upon the study of objects that are hard to get et al. the of the stacked clothes employing the the fingers driven
chapter |1 pages
the closed finger, the fingers move converters supply the controlled air to this
to carry the paper. In report, the adequate pushing force and respectively and the the closing velocity to execute the electric input to pneumatic pressure signal. The second stage rate in order to in Fig.2. fingers directly. fingers are aery! resin. have made two type fingers, is the frictional finger cylinder "B" is directed to grasp and the positional signal to holding up the is in Fig. is put the frictional fingers
chapter |2 pages
used. Upon this test, the closing
the paper surface. The results about velocity of finger is set at to that probability of success increases to the force increase. results of grasping test the stacked papers on the table are
chapter |5 pages
that is nurse's personnel as well as the comfort and
intervertebral patients produces loading lifting in nursing care is that 'living burden' is nursing staff is probably often subject to
chapter 101|1 pages
On the development of a new pneumatic versatile
gripper ifice rate t utilize rate
chapter 102|6 pages
Attitude control of a two wheeled vehicle model with
pneumatic servo type active suspension
chapter 103|1 pages
A study on pressure control of a chamber by using
an electro-pneumatic pressure proportional valve Engineering Faculty of Engineering University
chapter |1 pages
of feedback control system and
Pressure control provide several control of a the valve. at constant value using electro-pneumatic pressure Pressure Control System proportional valve which has high disturbance, or the hamber hich is pen, o is closed disturbance,both pressure ,,,._
chapter |1 pages
conductor pressure transducer occurring the disturbance detecting pressure
case of bleeds from a lmm.-dia.hole, read by microprocessor through pressure converter of bits. order to make pressure at the setting value Pset, provide supply voltage V' to the valve.
chapter |1 pages
Figure 4. If the relation between it is rising gradually.
pressure is suddenly decreasing, supply voltage to the valve and pressure of chamber is is understand that there is can't control the pressure of non-linear response of the valve. at the setting pressure if rise decrease in don't control learning pressure at several steps. Experimental results are contro Figure 6. control) exit of chamber If compressed air of the chamber bleeds through a millimeter-
chapter |1 pages
proportional valve.
.. . . . .. .. ......... ......... ..... .. . ::::: :::::t::: :::::: t:: ::::::: ::::::::::t: ::::::::t:::::' ::: pressure valve,1991,Vol.29,No.5, ppl0-19. Takagi,Sumi,Positioning control air-cylinder learning order to control the pressure strategies, bulletin of the the hamber t tant Vol.50, No.49,pp 2823-2828.
chapter 104|2 pages
Static characteristics of a pneumatic pressure
control proportional valve with nozzle-flapper mechanism
chapter 109|6 pages
Digital positioning using a set of pneumatic
cylinders in case with external load
chapter 110|1 pages
Opto-pneumatic control robot arm
Keijiro a) Institute of Technology,1033 Shimoogino, Atsugi-shi,243-02,Japan University,1-1-1 Higashimita,Tama-ku, Kawasaki-shi,214,Japan industrial applications of mechanical moving and electrical robots, optical control offers control parts are indispensable elements. noise immunity, first response, realizing such photofluidic devices. Since control devices, appropriate optical power sources, fiber bination technique of the ther- transmission lines, and optical conversion of optical connector technology are well energy to fluid energy high
chapter |1 pages
and a photo-acoustic cell
as the control 1], the other is the temperature control of the power bound- focused onto the base plate of [2]. This paper describes the evalua- tion of novel photofluidic in- which luminates the light absorbing side wall of the supply nozzle of the and the feasibility of the photo-pneumatic control robot which consists of the
chapter |1 pages
the volume of 1000 cubic mil- Error signal is presented
limeters. Equation 3. booster amplifier consisted of a pilot nozzle-flapper type valve followed nozzle- + t r t flapper type valve as shown in lengths and this method. weights of the members were 260mm 600g, and 150mm and 230g, respectively as in Figure pneumatic rotary actuators
chapter |1 pages
step responses of the robot are shown in Figures 6Ca)-
with a Differential blocked output pres- angle. sure of the photofluidic control is due to the ference in preamplifiers as summarized in times. Figures 6Cc), (d) Figure 4. shown in Figure 4, photofluidic control device response characterized opto-fluidic gain 2.22Pa per he 6f supply pressures,Ps1 at the supply pressures, opto-fluidic control device almost independent in the supply pressure optical power. three-stage proportional gain operated at the supply amplifying chracteristics of booster amplifier is in Figure 5. The supply pressure Psb chosen as the operating
chapter |2 pages
show the responses of the model reference adaptive control with different gains. in
Figures 6(c) and <e>, too small large gains cause vibration. robot arm described above successfully demonstrated that amplifiers and nozzle-flapper booster amplifiers to build actuator system. optother- technique have the dvantage a simplicity performance. photofluidic interface preamplifier in the laminar flow regime so that the signal was large enough for turbulent power