As the growing requirements for the stability and safety of process industries,the fault detection and diagnosis of pneumatic control valves have crucial practical significance.Many of the approaches were presented in...As the growing requirements for the stability and safety of process industries,the fault detection and diagnosis of pneumatic control valves have crucial practical significance.Many of the approaches were presented in the literature to diagnose faults through the comparison of residual sequences with thresholds.In this study,a novel hybrid neural network model has been developed to address the issue of pneumatic control valve fault diagnosis.First,the feature extractor automatically extracts in-depth features of the signals through multi-scale convolutional neural networks with different kernel sizes,which not only adequately explores the local distinguishable features,but also takes into account the global features.The extracted features are then fused by the feature fusion layer to reduce redundant features.Finally,the long short-term memory for fault identification and the dense layer for fault classification.Experimental results demonstrate that the average test accuracy is above 94%and 16 out of the 19 conditions can be successfully detected in the simulated actual industrial environment.The effectiveness and practicability of the proposed method have been verified through a comparative analysis with existing intelligent fault diagnosis methods,and the results suggest that the developed model has better robustness.展开更多
Aiming at solving the problem of strong coupling characteristic of the key parameters of high-speed pneumatic pulse width modulation( PWM) on / off valve, a general lumped parameter mathematical model based on the val...Aiming at solving the problem of strong coupling characteristic of the key parameters of high-speed pneumatic pulse width modulation( PWM) on / off valve, a general lumped parameter mathematical model based on the valves time periods was well developed. With this model,the mass flow rate and dynamic pressure characteristics of constant volumes controlled by high-speed pneumatic PWM on /off valves was well described. A variable flow rate coefficient model was proposed to substitute for the constant one used in most of the prior works to investigate PWM on /off valves' dynamical pressure response, and a formula for disclosing the inherent relationship among the PWM command signal,static mass flow rate,and sonic conductance of the valve was newly derived.Finally,an extensive set of analytical experimental comparisons were implemented to verify the validity of the proposed mathematica model. With the proposed model, PWM on /off valves' characteristics,such as mass flow rate,step pressure response of the valve control system,mean pressure and ripple amplitude,not only in the linear range,but also in the nonlinear range can be wel predicted; Good agreement between measured and calculated results was obtained,which proved that the model is helpful for designing a control strategy in a closed loop control system.展开更多
High-pressure solenoid valve with high flow rate and high speed is a key component in an underwater driving system.However,traditional single spool pilot operated valve cannot meet the demands of both high flow rate a...High-pressure solenoid valve with high flow rate and high speed is a key component in an underwater driving system.However,traditional single spool pilot operated valve cannot meet the demands of both high flow rate and high speed simultaneously.A new structure for a high pressure solenoid valve is needed to meet the demand of the underwater driving system.A novel parallel-spool pilot operated high-pressure solenoid valve is proposed to overcome the drawback of the current single spool design.Mathematical models of the opening process and flow rate of the valve are established.Opening response time of the valve is subdivided into 4 parts to analyze the properties of the opening response.Corresponding formulas to solve 4 parts of the response time are derived.Key factors that influence the opening response time are analyzed.According to the mathematical model of the valve,a simulation of the opening process is carried out by MATLAB.Parameters are chosen based on theoretical analysis to design the test prototype of the new type of valve.Opening response time of the designed valve is tested by verifying response of the current in the coil and displacement of the main valve spool.The experimental results are in agreement with the simulated results,therefore the validity of the theoretical analysis is verified.Experimental opening response time of the valve is 48.3 ms at working pressure of 10 MPa.The flow capacity test shows that the largest effective area is 126 mm2 and the largest air flow rate is 2320 L/s.According to the result of the load driving test,the valve can meet the demands of the driving system.The proposed valve with parallel spools provides a new method for the design of a high-pressure valve with fast response and large flow rate.展开更多
Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system tha...Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance（ANOVA）is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled.展开更多
Pneumatic cryogenic control valves(PCCV)are designed to meet the special requirements for the large cryogenic helium refrigeration system.Polychlorotrifluoroethylene(PCTFE)is adopted as the flat seal material of the v...Pneumatic cryogenic control valves(PCCV)are designed to meet the special requirements for the large cryogenic helium refrigeration system.Polychlorotrifluoroethylene(PCTFE)is adopted as the flat seal material of the valve seat.The leakage rates and compressive strain of the PCTFE gasket with different sealing stress are tested at both room temperature(293 K)and liquid nitrogen temperature(77 K).After 300 open/close cycles,the experimental results show that the sealing properties of the PCTFE gasket are improved.The leakage rates are about 10-8(293 K)and 10-4(77 K)Pam3 s-1 respectively.Finally,the effects of working pressure on sealing characteristics are discussed.The working pressure has little effect on compressive strain but it has a great influence on leakage rate.The leakage rate is linear with the working pressure of inlet at room temperature,but at liquid nitrogen temperature the leakage rate is linear with the square of the working pressure.展开更多
Soft robotics,compared with their rigid counterparts,are able to adapt to uncharted environments,are superior in safe human-robot interactions,and have low cost,owing to the native compliance of the soft materials.How...Soft robotics,compared with their rigid counterparts,are able to adapt to uncharted environments,are superior in safe human-robot interactions,and have low cost,owing to the native compliance of the soft materials.However,customized complex structures,as well as the nonlinear and viscoelastic soft materials,pose a great challenge to accurate modeling and control of soft robotics,and impose restrictions on further applications.In this study,a unified modeling strategy is proposed to establish a complete dynamic model of the most widely used pneumatic soft bending actuator.First,a novel empirical nonlinear model with parametric and nonlinear uncertainties is identified to describe the nonlinear behaviors of pneumatic soft bending actuators.Second,an inner pressure dynamic model of a pneumatic soft bending actuator is established by introducing a modified valve flow rate model of the unbalanced pneumatic proportional valves.Third,an adaptive robust controller is designed using a backstepping method to handle and update the nonlinear and uncertain system.Finally,the experimental results of comparative trajectory tracking control indicate the validity of the proposed modeling and control method.展开更多
基金funded by the“Ningxia Key Research and Development Project”,grant number“2022BEE02002”.
文摘As the growing requirements for the stability and safety of process industries,the fault detection and diagnosis of pneumatic control valves have crucial practical significance.Many of the approaches were presented in the literature to diagnose faults through the comparison of residual sequences with thresholds.In this study,a novel hybrid neural network model has been developed to address the issue of pneumatic control valve fault diagnosis.First,the feature extractor automatically extracts in-depth features of the signals through multi-scale convolutional neural networks with different kernel sizes,which not only adequately explores the local distinguishable features,but also takes into account the global features.The extracted features are then fused by the feature fusion layer to reduce redundant features.Finally,the long short-term memory for fault identification and the dense layer for fault classification.Experimental results demonstrate that the average test accuracy is above 94%and 16 out of the 19 conditions can be successfully detected in the simulated actual industrial environment.The effectiveness and practicability of the proposed method have been verified through a comparative analysis with existing intelligent fault diagnosis methods,and the results suggest that the developed model has better robustness.
基金National Natural Science Foundation of China(No.51205362)Zhejiang Provincial National Science Foundation of China(No.LQ12E05017)
文摘Aiming at solving the problem of strong coupling characteristic of the key parameters of high-speed pneumatic pulse width modulation( PWM) on / off valve, a general lumped parameter mathematical model based on the valves time periods was well developed. With this model,the mass flow rate and dynamic pressure characteristics of constant volumes controlled by high-speed pneumatic PWM on /off valves was well described. A variable flow rate coefficient model was proposed to substitute for the constant one used in most of the prior works to investigate PWM on /off valves' dynamical pressure response, and a formula for disclosing the inherent relationship among the PWM command signal,static mass flow rate,and sonic conductance of the valve was newly derived.Finally,an extensive set of analytical experimental comparisons were implemented to verify the validity of the proposed mathematica model. With the proposed model, PWM on /off valves' characteristics,such as mass flow rate,step pressure response of the valve control system,mean pressure and ripple amplitude,not only in the linear range,but also in the nonlinear range can be wel predicted; Good agreement between measured and calculated results was obtained,which proved that the model is helpful for designing a control strategy in a closed loop control system.
文摘High-pressure solenoid valve with high flow rate and high speed is a key component in an underwater driving system.However,traditional single spool pilot operated valve cannot meet the demands of both high flow rate and high speed simultaneously.A new structure for a high pressure solenoid valve is needed to meet the demand of the underwater driving system.A novel parallel-spool pilot operated high-pressure solenoid valve is proposed to overcome the drawback of the current single spool design.Mathematical models of the opening process and flow rate of the valve are established.Opening response time of the valve is subdivided into 4 parts to analyze the properties of the opening response.Corresponding formulas to solve 4 parts of the response time are derived.Key factors that influence the opening response time are analyzed.According to the mathematical model of the valve,a simulation of the opening process is carried out by MATLAB.Parameters are chosen based on theoretical analysis to design the test prototype of the new type of valve.Opening response time of the designed valve is tested by verifying response of the current in the coil and displacement of the main valve spool.The experimental results are in agreement with the simulated results,therefore the validity of the theoretical analysis is verified.Experimental opening response time of the valve is 48.3 ms at working pressure of 10 MPa.The flow capacity test shows that the largest effective area is 126 mm2 and the largest air flow rate is 2320 L/s.According to the result of the load driving test,the valve can meet the demands of the driving system.The proposed valve with parallel spools provides a new method for the design of a high-pressure valve with fast response and large flow rate.
基金supported by the Technical Education Quality Improvement Programme (TEQIP),India (NITC/TEQIP-II/R & d/2014)
文摘Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance（ANOVA）is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled.
基金supported by the fund of the State Key Laboratory of Technologies in Space Cryogenic Propellants (Grant No. SKLTSCP1210)
文摘Pneumatic cryogenic control valves(PCCV)are designed to meet the special requirements for the large cryogenic helium refrigeration system.Polychlorotrifluoroethylene(PCTFE)is adopted as the flat seal material of the valve seat.The leakage rates and compressive strain of the PCTFE gasket with different sealing stress are tested at both room temperature(293 K)and liquid nitrogen temperature(77 K).After 300 open/close cycles,the experimental results show that the sealing properties of the PCTFE gasket are improved.The leakage rates are about 10-8(293 K)and 10-4(77 K)Pam3 s-1 respectively.Finally,the effects of working pressure on sealing characteristics are discussed.The working pressure has little effect on compressive strain but it has a great influence on leakage rate.The leakage rate is linear with the working pressure of inlet at room temperature,but at liquid nitrogen temperature the leakage rate is linear with the square of the working pressure.
基金Project supported by the National Natural Science Foundation of China(Nos.51875507,51821093,and U1908228)。
文摘Soft robotics,compared with their rigid counterparts,are able to adapt to uncharted environments,are superior in safe human-robot interactions,and have low cost,owing to the native compliance of the soft materials.However,customized complex structures,as well as the nonlinear and viscoelastic soft materials,pose a great challenge to accurate modeling and control of soft robotics,and impose restrictions on further applications.In this study,a unified modeling strategy is proposed to establish a complete dynamic model of the most widely used pneumatic soft bending actuator.First,a novel empirical nonlinear model with parametric and nonlinear uncertainties is identified to describe the nonlinear behaviors of pneumatic soft bending actuators.Second,an inner pressure dynamic model of a pneumatic soft bending actuator is established by introducing a modified valve flow rate model of the unbalanced pneumatic proportional valves.Third,an adaptive robust controller is designed using a backstepping method to handle and update the nonlinear and uncertain system.Finally,the experimental results of comparative trajectory tracking control indicate the validity of the proposed modeling and control method.
