No description available.

No description available.

No description available.

Traditional vehicle suspension system is equipped with isolated shock absorbers that can only dissipate energy by themselves. Hydraulic interconnected suspension uses hydraulic circuits to connect each shock absorber, so that the energized hydraulic fluid can be utilized to counter unwanted body motion to improve the overall dynamic performance. The hydraulic interconnected suspension is a proven concept that has shown good potential in controlling body rolling and decoupling the warp mode from other dynamic modes. Hydraulic interconnected suspension is still passive and lack of adaptivity, while some active or semi-active suspension technologies allow the shock absorbers to counter the road disturbances using external power input. Active suspensions such as electro-magnetic shock absorbers use the variable viscosity of magnetofluid to alter the damping characteristics of the suspension to adapt to quickly changing road conditions. The energy demand from an active suspension can reach the level of kilowatts in certain cases, which results in lowered fuel efficiency of the vehicle. To find a balanced solution to dynamic performance and energy efficiency, this paper introduces a new form of energy-harvesting suspension that is integrated in a hydraulically interconnected suspension (HIS) system. The combined energy-harvesting and hydraulic interconnection features provide improved energy efficiency and vehicle dynamics performance. A single cylinder model is built in AMESim for preliminary study and validated in a bench test. The bench test results proved the authenticity of the theoretical model, and the model is then used to predict the system performance and guide the hardware construction. Based on the proven single cylinder model, and a full car model are developed to validate the effectiveness of the overall system design. Different dynamic input scenarios are used for model simulation, which includes single-wheel sinusoidal input, braking test and double lane change test. In the double lane change test, the EHHIS sees averagely 70% improved in roll angle relative to a conventional suspension, and averagely 22% improvement relative to simple hydraulically interconnected suspension. The power generated is found to reach maximum at 4 Ω external resistance and the highest average power generated is more than 70 watts at 2 hz 20 mm sinusoidal input. A road test of a half vehicle EHHIS system is done. From the road test results, the EHHIS meets the expectations of reducing roll angles. The riding comfort is evaluated with the RMS value of the vertical acceleration and is found to have minimum compromise from the greater damping coefficient. / Master of Science / Better road handling dynamics and riding comfort has always been after by the automotive industry. The vehicle body may experience all kinds of movement such as roll, pitch and bounce, every type of these motion can cause safety risks and passenger fatigue. Traditional vehicle suspension system is equipped with isolated oil shock absorbers that can only dissipate energy by pushing the oil through damping valves. A concept called hydraulic interconnected suspension can use hydraulic circuits to connect each shock absorber, so that the energized hydraulic fluid can be utilized to counter unwanted body motion to improve the overall riding experience. The hydraulic interconnected suspension (HIS) is a proven concept that has shown good potential in stabilizing the vehicle body in rough road conditions. Hydraulic interconnected suspension is still passive and lack of adaptivity, while active suspensions such as electro-magnetic shock absorbers can use external power supply to force the to adapt to quickly changing road conditions. The energy demand from an active suspension can reach the level of kilowatts in certain cases, which results in lowered fuel efficiency of the vehicle. Additionally, actively supplying power to the system always have the risk of functional failure due to power loss. To find a balanced solution to dynamic performance and energy efficiency, this paper introduces a new form of energy-harvesting suspension that is integrated in a hydraulically interconnected suspension (EHHIS) system. The combined energy-harvesting and HIS system provide improved energy efficiency as well as vehicle dynamics performance. Each system is composed of four connected hydraulic cylinders on each wheel and other auxiliaries. To investigate the effectiveness of the entire system, a single cylinder model is first built in AMESim for preliminary study and validated in the experiments. The bench test results proved the authenticity of the theoretical model, and the model is then used to predict the system performance and guide the hardware construction. Based on the proven single cylinder model, and a full car model are developed to validate the effectiveness of the overall system design. Different road condition scenarios are used for model simulation, which includes single-wheel sinusoidal input, braking test and double lane change test. In the double lane change test, the EHHIS system sees averagely 70% improved in roll angle relative to a conventional suspension, and averagely 22% improvement relative to simple hydraulically interconnected suspension. In the breaking test, the EHHIS-equipped vehicle experiences smoother pitching behavior and less oscillations. The power generated is found to reach maximum at 4 Ω external resistance and the highest average power generated is more than 70 watts at 2 hz 20 mm sinusoidal input.

Condition monitoring of hydraulic systems is an area that has grown substantially in the last few decades. This thesis presents a scheme that automatically generates the fault symptoms by on-line processing of raw sensor data from a real test rig. The main purposes of implementing condition monitoring in hydraulic systems are to increase productivity, decrease maintenance costs and increase safety. Since such systems are widely used in industry and becoming more complex in function, reliability of the systems must be supported by an efficient monitoring and maintenance scheme. This work proposes an accurate state space model together with a novel model-based fault diagnosis methodology. The test rig has been fabricated in the Process Automation and Robotics Laboratory at UBC. First, a state space model of the system is derived. The parameters of the model are obtained through either experiments or direct measurements and manufacturer specifications. To validate the model, the simulated and measured states are compared. The results show that under normal operating conditions the simulation program and real system produce similar state trajectories. For the validated model, a condition monitoring scheme based on the Unscented Kalman Filter (UKF) is developed. In simulations, both measurement and process noises are considered. The results show that the algorithm estimates the iii system states with acceptable residual errors. Therefore, the structure is verified to be employed as the fault diagnosis scheme. Five types of faults are investigated in this thesis: loss of load, dynamic friction load, the internal leakage between the two hydraulic cylinder chambers, and the external leakage at either side of the actuator. Also, for each leakage scenario, three levels of leakage are investigated in the tests. The developed UKF-based fault monitoring scheme is tested on the practical system while different fault scenarios are singly introduced to the system. A sinusoidal reference signal is used for the actuator displacement. To diagnose the occurred fault in real time, three criteria, namely residual moving average of the errors, chamber pressures, and actuator characteristics, are considered. Based on the presented experimental results and discussions, the proposed scheme can accurately diagnose the occurred faults.

Abstract Traditional synchronous motion control of a multi-cylinder system was always achieved by using hydraulic loops design and constrained linkage mechanisms. Therefore, these control methodologies always have many disadvantages, such as inaccuracy, cost expensive, and huge volume of the equipment, and so on. In this paper, the nonlinear control strategy was proposed to control the proportional directional valves of two-cylinder electro-hydraulic system in order to achieve synchronous motion under the consideration of unbalanced and uncertainty loading. Besides, in order to explore influence of different loading to the system, two-cylinder mechanism was designed to have individual loading device without any hardware constrain between two pistons. And the maximum loading capacity for one piston is 210kg. Due to the highly complicated coupling effect of internal pressure and flow rate for two cylinders, in this paper, feedforward controller with three fuzzy controllers was designated to overcome the problem of synchronous motion. In the first, the feedforward controller of each cylinder is developed to track a desire velocity trajectory. Then, the fuzzy control of each cylinder was specified to improve the individual tracking performance. Finally, the third fuzzy controller was performed to compensate the coupling effect of two-cylinder in order to progressively improve the performance of synchronous motion. According to the experimental results, the proposed control strategy for synchronous motion of two-cylinder system was verified and the maximum synchronous error of the total system was controlled to be within 10mm. Keyword: synchronous motion; proportional directional valve; fuzzy controller; feedforward controller

Condition monitoring of hydraulic systems is an area that has grown substantially in the last few decades. This thesis presents a scheme that automatically generates the fault symptoms by on-line processing of raw sensor data from a real test rig. The main purposes of implementing condition monitoring in hydraulic systems are to increase productivity, decrease maintenance costs and increase safety. Since such systems are widely used in industry and becoming more complex in function, reliability of the systems must be supported by an efficient monitoring and maintenance scheme. This work proposes an accurate state space model together with a novel model-based fault diagnosis methodology. The test rig has been fabricated in the Process Automation and Robotics Laboratory at UBC. First, a state space model of the system is derived. The parameters of the model are obtained through either experiments or direct measurements and manufacturer specifications. To validate the model, the simulated and measured states are compared. The results show that under normal operating conditions the simulation program and real system produce similar state trajectories. For the validated model, a condition monitoring scheme based on the Unscented Kalman Filter (UKF) is developed. In simulations, both measurement and process noises are considered. The results show that the algorithm estimates the iii system states with acceptable residual errors. Therefore, the structure is verified to be employed as the fault diagnosis scheme. Five types of faults are investigated in this thesis: loss of load, dynamic friction load, the internal leakage between the two hydraulic cylinder chambers, and the external leakage at either side of the actuator. Also, for each leakage scenario, three levels of leakage are investigated in the tests. The developed UKF-based fault monitoring scheme is tested on the practical system while different fault scenarios are singly introduced to the system. A sinusoidal reference signal is used for the actuator displacement. To diagnose the occurred fault in real time, three criteria, namely residual moving average of the errors, chamber pressures, and actuator characteristics, are considered. Based on the presented experimental results and discussions, the proposed scheme can accurately diagnose the occurred faults.

Condition monitoring of hydraulic systems is an area that has grown substantially in the last few decades. This thesis presents a scheme that automatically generates the fault symptoms by on-line processing of raw sensor data from a real test rig. The main purposes of implementing condition monitoring in hydraulic systems are to increase productivity, decrease maintenance costs and increase safety. Since such systems are widely used in industry and becoming more complex in function, reliability of the systems must be supported by an efficient monitoring and maintenance scheme. This work proposes an accurate state space model together with a novel model-based fault diagnosis methodology. The test rig has been fabricated in the Process Automation and Robotics Laboratory at UBC. First, a state space model of the system is derived. The parameters of the model are obtained through either experiments or direct measurements and manufacturer specifications. To validate the model, the simulated and measured states are compared. The results show that under normal operating conditions the simulation program and real system produce similar state trajectories. For the validated model, a condition monitoring scheme based on the Unscented Kalman Filter (UKF) is developed. In simulations, both measurement and process noises are considered. The results show that the algorithm estimates the iii system states with acceptable residual errors. Therefore, the structure is verified to be employed as the fault diagnosis scheme. Five types of faults are investigated in this thesis: loss of load, dynamic friction load, the internal leakage between the two hydraulic cylinder chambers, and the external leakage at either side of the actuator. Also, for each leakage scenario, three levels of leakage are investigated in the tests. The developed UKF-based fault monitoring scheme is tested on the practical system while different fault scenarios are singly introduced to the system. A sinusoidal reference signal is used for the actuator displacement. To diagnose the occurred fault in real time, three criteria, namely residual moving average of the errors, chamber pressures, and actuator characteristics, are considered. Based on the presented experimental results and discussions, the proposed scheme can accurately diagnose the occurred faults. / Applied Science, Faculty of / Mechanical Engineering, Department of / Graduate

The main goal of this diploma thesis is to design a hydraulic system for robotic exoskeleton actuation. In the first part of the thesis a list of available sources of exoskeleton designs, is presented, followed by a thorough systematic analysis of hydraulic system elements and their use for this application, is made. The second part of the thesis consists of the hydraulic system design, as well the mechanical design for the hydraulic system which is subsequently tested structurally in the Autodesk Inventor software. The last part of the thesis consists of risk analysis and critical evaluation of thesis‘ results.

Diploma thesis solves project of the hydraulic blankholder/ejector for the mechanical press. On the basis of defined parameters are carried out the analysis of crank mechanism, necessary calculations, analyse of all suggested alternatives, project of hydraulic system and specification of hydraulic components. Tutorials took place in company ŽĎAS, a.s. and project is performed on the basis of the suggestions, advices and recommendations of Hydraulic systems department of this company.