P. Woś

Modeling and Analysis of the Hydraulic Servo Drive System

In the hydraulic servo drive appear structural nonlinearities which cause that designing nonlinear control of the position and power system is hampered. In the article a mathematical model of the servo drive hydraulic control was described. It is useful for the synthesis algorithms in the simulation model. The calculation diagram of the hydraulic servo drive model consisting of the double-acting cylinder with one-sided piston rod and directional control valve was presented. There were presented characteristics of: displacement, velocity, acceleration and pressures as well as the displacement of spool valve at mass load. An algorithm of control the nonlinear object was adapted by using the linearization method of the model process. Simulation examinations will serve for developing the control algorithm which will enable the compensation influences of disruptions such as: friction and changeable load powers mass.

Virtual prototyping of electro-hydraulic parallel manipulator control systems

Abstract The paper presents the process of virtual prototyping of a parallel manipulator which uses electro-hydraulic servo-mechanisms to drive active elements. A mechatronic solution of tasks of forward and inverse kinematics with the use of a virtual model of the manipulator, as well as a control system for the virtual machine were presented herein. The solution presented in the article makes it possible to study the functions of the control system before its merger with a real manipulator. At the same time, the design process is significantly accelerated.

Pneumatyczne semiaktywne zawieszenie siedziska maszyny roboczej

Presented are issues related to improvement of the vibration isolating properties of semi-active seat suspension. It shows the practical implementation of the force control system for pneumatic spring which was mounted in mass-produced seat suspension. Output control function for pressure valve of pneumatic supply system was proposed. The developed solution allowed to carry out the research of air spring applied to a semi-active suspension system.

Rozwój energooszczędnych napędów hydrostatycznych z odzyskiem energii

For many years, the search for energy-efficient solutions in hydrostatic drives of passenger vehicles, municipal and military vehicles, buses, work and construction machinery, lifting equipment and others has been ongoing. These solutions include: vehicle weight reduction, aerodynamic body design, use of electronic ignition or injection equipment, energy recovery and accumulator systems and hybrid drives. Such solutions lead to reduced noise and reduced fuel consumption and emissions to the environment: NOx, carbon monoxide and hydrocarbons (CO/HC) and particulate matter (PM). In conventional vehicle drives, braking energy is irretrievably lost and the internal combustion engine must cover the power demand throughout the entire vehicle cycle. This clearly indicates the need to include in the vehicle movement recovery (recovery) and storage (accumulation) of braking energy, and then use it to accelerate the vehicle. In such drives, an internal combustion engine can be used to cover the average power requirement during traffic. This reduces the power of the engine cooling system. The main goal of hybrid vehicles is to improve fuel efficiency and reduce emissions for the benefit of the environment. After the tightening of emission standards in 2000 and fuel price increases, the advantages of such drives have been recognized. Hybrid vehicles are classified based on the configuration of the power transmission system and the method of energy accumulation. The first hybrid electric vehicle, the Lohnerporsche (HEV), was built in 1900. Originally, the hybrid technology was designed for military vehicles, lorries, vans and buses. The Hydro-Bus concept was introduced in Hanover in the early 1980’s and was subsequently researched at the Technical University of Lodz [16]. Loading and unloading equipment and construction machinery for short runs (with frequent stoppages), Bosch Rexroth has developed a hybrid hydrostatic regenerative braking system (HRB) [13]. The history of modern hybrid technology in cars began about 30 years ago – examples are hybrid drives used in the Toyota Prius (1997) and Honda Insight (1999). The research also included hydraulic hybrid drives in SUVs such as the Hummer H3, Nissan Titan, Pathfinder, Dodge Durango, Ford Explorer and GMC Yukon. One of the first hybrid parallel hybrid drives introduced into urban vehicles was the Parked Hannifin CBED (cumulo brake energy drive) system. On the other hand, the company’s first hybrid hydrostatic drive was the CHD (cumulo hydrostatic drive) system. The latest hybrid hydraulic drive solution was developed by Bosch Rexroth with PSA Peugeot Citroën. This system, called hybrid air, was used in the Peugeot 2008 car, which was presented at the Geneva Motor Show in 2013. The use of a hybrid drive (HHD) in vehicles is most appropriate when the vehicle is moving in a repetitive cycle (acceleration – fixed travel – braking – stopping), while high power instantaneous power with high energy efficiency is possible. little energy loss. In many cases the traffic of urban, municipal and commercial vehicles is characterized by such cyclic driving. In energy-efficient hydrostatic drive systems, the pump is used as the primary source of energy, and the battery as a secondary power source and reverse drive unit with secondary control, which, depending on the direction of transmission, operates like a motor or pump. In such systems there is a two-way flow of energy: the energy is transferred from the pump and the battery to the reversible motor as the engine, and the energy recovered from the braking (during so-called regenerative braking) is transferred from a reversible drive unit operating as a pump to a hydraulic accumulator, where * Prof. dr hab. inż. Ryszard Dindorf (dindorf@tu.kielce.pl), dr inż. Piotr Woś (wos@tu.kielce.pl) – Katedra Technologii Mechanicznej i Metrologii, Wydział Mechatroniki i Budowy Maszyn Politechniki Świętokrzyskiej ARTYKUŁ PRZEKROJOWY

Remote control of the electro-pneumatic servo drive using biosignals

Machines and devices control can be held using keyboard, joystick, touch interface, gesture recognition interface or speech. Completely different control form is biosignals use, such as electromyogram, electrooculogram or electroencephalogram. In the article presented the controller construction of electro-pneumatic servo drive, which control is backed up by biosignals generated by activity patterns in muscles, brain and eye.