Analysis of the dynamic performance of an electro-hydrostatic actuator and improvement methods

As a kind of actuation mechanism for power-by-wire (PBW) actuation systems of more/all electrical aircraft, an electro-hydrostatic actuator (EHA) is a highly integrated local hydraulic actuation system. It is a volume control system consisting of a motor, a pump, an actuator, etc., which has features of high efficiency and reliability. However, the poor dynamic characteristic is one of the main factors restricting its wide application in aircraft. In this paper, the reason for the poor dynamic characteristic of an EHA is revealed from the perspectives of the natural frequency characteristic and the power requirement, respectively. In other words, the insufficiency of the motor output power at a high frequency is the main factor causing the poor dynamic characteristic of the system, and methods which include increasing the maximum output torque of the motor, reducing the rotational inertia of the motor-pump group, and adopting a double-motor-pump group configuration are proposed in this paper, by which the dynamic characteristic of the system can be improved. The feasibility of those methods are verified by simulations. Finally, the dynamic characteristic is tested on an EHA prototype, and results show that saturation of the output torque of the motor is the main factor restricting the dynamic characteristic of the EHA system.     

一体化电动静液作动器(EHA)的设计与仿真分析

一体化电动静液作动系统兼备传统液压作动系统和直接驱动的机电作动系统的优点,也就是同时具备高转距和大功率密度,并且易于模块化。本文阐述了一种一体化电动静液作动器(EHA)的总体结构和工作原理,对电机、泵和液压缸的选用以及系统设计提出了明确的要求,并对其各个模块进行了建模和仿真分析。结果表明,EHA的性能能够满足现代飞机对作动系统的要求,在未来功率电传(PBW)的飞控系统中具有很好的应用前景。     

轴向柱塞泵多学科融合建模与集成优化

为了实现机液耦合条件下轴向柱塞泵的精确建模和优化设计,提出了轴向柱塞泵多学科融合建模与集成优化方法。以国产I3V2-10S型轴向柱塞泵为对象,分别建立了ADAMS机械系统模型和AMESIM液压系统模型,通过ADAMS和AMESIM之间的接口模块设计实现了柱塞泵机液耦合建模和联合仿真,并利用iSIGHT软件集成了该机液耦合模型,以该柱塞泵出口体积流量脉动率最小为目标,对配流副中吸排油节流口最大开口等效直径、吸排油闭死角、柱塞包角、吸排油预开口量等参数进行了优化设计。结果表明:在负载工况分别为10、14、18、22、26、30MPa时,优化后的泵出口流量脉动率比优化前分别降低了14.59%、18.57%、21.50%、23.44%、24.03%、25.49%,最后通过实验验证了仿真和集成优化数据的正确性。      

Modeling and control of a novel electro-hydrostatic actuator with adaptive pump displacement

The variable pump displacement and variable motor speed electro-hydrostatic actuator (EHA), one of the three types of EHAs, has advantages such as short response time, flexible speed regulation, and high efficiency. However, the nonlinearity of its double-input single-output system poses a great challenge for system control. This study proposes a novel EHA with adaptive pump displacement and variable motor speed (EHA-APVM). A closed-loop position is realized using a servomotor. Moreover, the displacement varies with the system pressure; thus, the EHA-APVM is a single-input and single-output system. Firstly, the working principles of the EHA-APVM and the pump used in the system are introduced. Secondly, a nonlinear mathematical model of the proposed EHA-APVM control system is established, and a feedback back-stepping (FBBS) control algorithm is introduced to transform the complex nonlinear system into a linear system on the basis of the back-stepping control theory. Finally, simulation results prove that the EHA-APVM has a quick response and high robustness to variations of the load and the pump displacement. In this work, the size and weight of the motor are significantly reduced because the maximum power requirement is reduced, which is very beneficial for using the actuator in airborne equipment.     

一种新型液压泵变排量机构的设计与仿真

为提高一体化电液作动器(EHA)的性能,对新型EHA中广泛使用的变排量液压泵中的变量机构进行了优化设计。采用锥蜗轮蜗杆传动代替了原来的齿轮传动体系并与泵壳体进行了一体化设计,采用solidworks进行了三维实体化建模,运用AMESim搭建了改进前后EHA系统的仿真模型并进行对比分析。经过仿真实验,改进后的EHA系统在整体刚度提升了31%,频率响应提升了11.2%,显著改善了系统性能,验证了设计的正确性。     

复杂空间载流管道系统流固耦合动力学模型及其验证

 针对飞机复杂管路系统振动分析,提出了一种复杂空间管道系统流固耦合动力学模型,在模型中用梁单元对管道进行了离散,每个节点考虑了x、y、z这3个方向的平动以及绕x、y、z这3个方向的转动,共计6个自由度;在单元中考虑了流固耦合效应,计及了流体流速对管道振动的影响;建立了管道与基础、管道与管道间的弹性连接,以适应多个管道之间的耦合振动分析;模型采用Newmark-β数值积分法获取系统响应。针对实际液压试验台的空间管路系统,利用锤击法进行实验模态分析,将本文模型的仿真结果与实验结果和商用有限元软件ANSYS Workbench的计算结果进行了分析比较,验证了本文模型的正确性。最后,仿真计算了流固耦合作用下流速对管道系统固有频率的影响规律。     

Variable load failure mechanism for high-speed load sensing electro-hydrostatic actuator pump of aircraft

This paper presents a novel transient lubrication model for the analysis of the variable load failure mechanism of high-speed pump used in Load Sensing Electro-Hydrostatic Actuator (LS-EHA). Focusing on the slipper/swashplate pair partial abrasion, which is considered as the dominant failure mode in the high-speed condition, slipper dynamic models are established. A forth sliding motion of the slipper on the swashplate surface is presented under the fact that the slipper center of mass will rotate around the center of piston ball when the swashplate angle is dynamically adjusted. Besides, extra inertial tilting moments will be produced for the slipper based on the theorem on translation of force, which will increase rapidly when LS-EHA pump operates under high-speed condition. Then, a dynamic lubricating model coupling with fluid film thickness field, temperature field and pressure field is proposed. The deformation effects caused by thermal deflection and hydrostatic pressure are considered. A numerical simulation model is established to validate the effectiveness and accuracy of the proposed model. Finally, based on the load spectrum of aircraft flight profile, the variable load conditions and the oil film characteristics are analyzed, and series of variable load rules of oil film thickness with variable speed/variable pressure/variable displacement are concluded.     

Multi-parameter load sensing pump model simulation and flow rate characteristics research

Load sensing pumps have been widely used in diverse hydraulic systems. Studies show that structural parameters have undeniable impacts on the characteristics and efficiency of the load sensing pump. The main purpose of this article is to study the influence of load sensing pump structure parameters on flow characteristics. In the present study, a nonlinear multi-parameter model is proposed for this type of pump. In this model, different parameters, including spool clearance, spool covering amount, internal leakage are considered to reflect the displacement adjustment process of the load sensing pump. Moreover, a frequency sweep method is proposed to analyze the frequency domain of the nonlinear mathematical model. An experiment rig was built to study the influence of key structural parameters on the dynamic follow-up characteristics of the pump flow. The obtained results show that the diameter of the orifice d can significantly affect the working characteristics of the pump. It is found that a large diameter of the orifice d can improve the phase following ability of the system, while a small diameter of the orifice d can reduce the bypass flow rate and increase the amplitude following ability. This paper provides a new consideration to study the dynamic follow-up characteristics of the load sensing pump.     

电动燃油泵驱动电机浸油冷却性能数值模拟

为了研究电动燃油泵驱动电机浸油冷却性能,基于冷却流体及电机各部件3维模型,充分考虑各部件发热功率以及材 料属性等物理量的影响,采用有限体积法对电机流-热耦合场进行模拟仿真,分析不同边界条件对电机流场和温度场的影响。结 果表明：在最大冷却燃油流量以及电机最高功率下,流道的压力损失和电机的最高温度均能满足电动燃油泵的运行要求;随着冷 却流量增加或燃油粘度的增大,流道的压力损失增大,且在最大冷却流量下,燃油粘度每增大1 mm 2 /s,压力损失增大约2 kPa;电 机功率和入口温度对电机各部件温度的影响较大,各部件温升与燃油进口温度近似呈线性关系,而环境温度对电机温度场影响较 小。研究结果为电动燃油泵电机浸油冷却流道的设计与优化提供了理论依据。     

Motion synchronization in a dual redundant HA/EHA system by using a hybrid integrated intelligent control design

This paper presents an integrated fuzzy controller design approach to synchronize a dis-similar redundant actuation system of a hydraulic actuator (HA) and an electro-hydrostatic actu-ator (EHA) with system uncertainties and disturbances. The motion synchronous control system consists of a trajectory generator, an individual position controller for each actuator, and a fuzzy force tracking controller (FFTC) for both actuators. The trajectory generator provides the desired motion dynamics and designing parameters of the trajectory which are taken according to the dynamic characteristics of the EHA. The position controller consists of a feed-forward controller and a fuzzy position tracking controller (FPTC) and acts as a decoupled controller, improving posi-tion tracking performance with the help of the feed-forward controller and the FPTC. The FFTC acts as a coupled controller and takes into account the inherent coupling effect. The simulation results show that the proposed controller not only eliminates initial force fighting by synchronizing the two actuators, but also improves disturbance rejection performance.     

油液冷却航空湿式摩擦离合器热特性分析

为了研究航空高功率密度湿式摩擦离合器在油液冷却作用下的温度特性，基于计算流体动力学（computational fluid dynamics，CFD）方法建立了华夫槽湿式摩擦离合器的热特性分析模型；研究了湿式摩擦离合器中摩擦副上热流密度的计算方法和施加方式；运用热流耦合方法，考虑了油液的散热作用，分析了离合器内各对摩擦副上的油液分布及温度分布。研究结果表明:钢片上和摩擦片上的油液分布不均造成钢片和摩擦片上温度分布不均；不同钢片和摩擦片上的温度分布受片上油液分布及该片热传导性能的影响，呈现出不同的温度分布规律。      

Impact of the thermal effect on the load-carrying capacity of a slipper pair for an aviation axial-piston pump

A thermal hydraulic model based on the lumped parameter method is presented to analyze the load-carrying capacity of a slipper pair in an aviation axial-piston pump under specified operating conditions. Both theoretical and experimental results are presented to demonstrate the validity of the thermal hydraulic model. The results illustrate that the squeezing force and thermal wedge bearing force are the main factors that affect the film thickness and load-carrying capacity. At high oil temperature and high load pressure, the film thickness decreases with increasing clamping force due to a combined action of the squeezing bearing force and the thermal wedge bearing force, but the load-carrying capacity will increase. An increase of the film thickness is proven to be beneficial under high shaft rotational speed but especially dangerous as it strongly increases the ripple amplitude of the film thickness, which leads to decreasing the load-carrying capacity. The structural parameters of the slipper can be optimized to achieve desired performance, such as the slipper radius ratio and orifice length diameter ratio. To satisfy the requirement of the load-carrying capacity, the slipper radius ratio should be selected from 1.4 to 1.8, and the orifice length diameter ratio should be selected from 4 to 5.     

大功率高速同步电机暖机进程及顶升油泵系统测试分析

根据长输管道大功率高速同步电机暖机进程及顶升油泵系统现状,对机组暖机进程进行测试并跟踪分析,发现暖机进程与同步电机过临界转速时振动值的相关度不高,暖机时间可以进行减少或取消。对同步电机顶升油泵系统进行测试,分析取消顶升油泵时同步电机振动、温度、起停机时间等的变化情况。试验结果表明,可降低顶升油泵联锁停泵转速。     

二维活塞航空燃油泵容积效率分析

提出了一种二维活塞燃油泵，该泵利用二维活塞的旋转运动将配流机构集成到活塞上，去除了传统柱塞泵独立的配流机构，简化了泵的结构、提升了泵的功率密度，而且由于主要运动机构采用了滚动轴承支撑，免除了滑动摩擦副及其产生的泄漏，提高了效率。对泵的容积效率进行理论分析和实验研究。结合泵的结构原理分析了造成容积损失的内泄、外泄及油液压缩性等3种主要原因；应用层流和紊流的缝隙流动基本理论推导出泄漏解析表达式，着重分析了不同配流开口形式产生的内泄漏；综合考虑油液压缩性和泄漏获得了容积效率数学模型。理论研究表明采用负开口配流形式可以有效减小内泄漏，定量分析了泄漏流量与负开口量的关系，同时利用Fluent进行配流过程中泵腔内的流场数值模拟，结果表明可以有效减小油液倒灌。为了验证理论分析的有效性，制作二维活塞燃油泵样机，以航空煤油为介质进行台架实验。样机实验结果表明在负载压力2 MPa，转速从1 000 r/min到5 000 r/min，容积效率从93.6%提升到98.1%；当转速为2 000 r/min，负载压力从1 MPa增大到5 MPa，容积效率从97.5%降低到92.3%。以现有的齿轮泵和柱塞泵相比容积效率显著提高，理论与实验的结果偏差在4%以内，表明理论分析的有效性和正确性。     

Analysis of the cylinder block tilting inertia moment and its effect on the performance of high-speed electro-hydrostatic actuator pumps of aircraft

Electro-hydrostatic actuator (EHA) pumps are usually characterized as high speed and small displacement. The tilting inertia moment on the cylinder block produced by the inertia forces of piston/slipper assemblies cannot be ignored when analyzing the cylinder block balance. A large tilting inertia moment will make the cylinder block tilt away from the valve plate, resulting in severe wear and significantly increased leakage. This paper presents an analytical expression for the tilting inertia moment on the cylinder block by means of vector analysis. In addition, a high-speed test rig was built up, and experiments on an EHA pump prototype were carried out at high speeds of up to 10,000 r/min. The predicted nature of the cylinder block tilt at high speeds corresponds closely to the witness marks on the dismantled EHA pump prototype. It is suggested that more attention should be given to the tilting inertia moment acting on the cylinder block of an EHA pump since both wear and leakage flow between the cylinder block and the valve plate are very much dependent on this tilting moment.     

Effects of splined shaft bending rigidity on cylinder tilt behaviour for high-speed electro-hydrostatic actuator pumps

High-speed axial piston pumps are hydraulic power supplies for electro-hydrostatic actuators(EHAs). The efficiency of a pump directly affects the operating performance of an EHA, and an understanding of the physical phenomena occurring in the cylinder/valve plate interface is essential to investigate energy dissipation. The effects of the splined shaft bending rigidity on the cylinder tilt behaviour in an EHA pump need to be considered, because the deflection and radial expansion of a steel shaft rotating at a high speed cannot be ignored. This paper proposes a new mathematical model to predict the cylinder tilt behaviour by establishing a quantitative relationship between the splined shaft deflection, the cylinder tilt angle, and the tilt azimuth angle. The moments exerted by the splined shaft are included in the equilibrium equation of the cylinder. The effects of solid and hollow splined shafts equipped in an EHA pump prototype are compared at variable speeds of 5000–10,000 r/min. With a weight saving of 29.7%, the hollow shaft is experimentally found to have almost no influence on the volumetric efficiency, but to reduce the mechanical efficiency by 0.6–2.4%. The results agree with the trivial differences of the simulated central gap heights of the interface between the two shafts and the enlargement of the simulated tilt angles by the hollow shaft. The findings could guide designs of the cylinder/valve plate interface and the splined shaft to improve both the efficiency and power density of an EHA pump.     

面向系统集成的起落架地面运动特性建模方法

大型飞机地面运动特性是飞机性能的重要组成部分,主要涉及到飞机的地面滑跑、转弯以及刹车等过程。地面运动特性的分析涉及到动力学、液压、控制等多领域,是典型的多学科耦合的复杂问题。以某大型民用飞机为研究对象,从主制造商的系统集成性能分析需求出发,通过多学科解耦和模型物理度划分两个角度进行地面特性模型架构的分解与定义,并以飞机刹车系统性能分析为例,验证了本架构的有效性。本文提出的模型架构灵活,既适用于飞机集成商的飞机级性能分析,又适用于特定系统级的性能分析。     

飞机喷口滑油泵斜盘操控性能的试验系统研制与调试

为在规定的θ-P试验条件下检测斜盘操控性能,喷口滑油泵测试液压系统中设置了3个固定孔径的节流器.通过对斜盘扭矩测试的试验方法、步骤及试验设备的介绍,以正向节流孔参数确定为例,建立了系统压力P与油泵斜盘角度θ的方程式,并通过标准泵的预置节流孔试验,获得了与油泵和节流孔结构形状有关的系数.再采用维算-试验测试-对比修改的试...     

大容量高速永磁电机热流场仿真及参数敏感性分析

建立电机三维热流场模型,基于流固耦合法,计算大容量高速永磁电机温度场。通过样机温升试验,验证了仿真模型正确性。在此基础上选取导热系数这一影响温度场重要因素作为研究对象,通过控制其在合理范围变化,分析电机温度场对各部件导热系数的敏感性程度。结果为以后高速永磁电机温度场仿真中导热系数的确定提供了参考。     

基于CFD内流耦合仿真的燃油柱塞泵滑靴副动态润滑特性研究

针对航空燃油柱塞泵滑靴副自适应油膜的动态润滑问题,基于牛顿拉夫逊方法,建立了考虑滑靴副油膜支承作用与其动力学状态动态耦合关系的滑靴副润滑计算模型。在此基础上,计入前级部件内流作用对油膜特性的影响,通过CFD内流分析和Reynolds润滑模型相结合的仿真方法,对航空柱塞泵滑靴副及其前级部件进行了一体式联合仿真研究。研究结果表明:仿真与试验结果的误差保持在4.3%以内,CFD仿真方法可以实现对滑靴副前级部件内流场的准确模拟;转速从4kr/min增至5kr/min时,膜厚的最大倾覆值减小至原数值的27.15%,并且低压区滑靴厚度变化率的增大率最大可达62.02%;而出口压力增大率为66.7%时,引起全周期内膜厚变化率波动幅度不同程度的增大;在转动周期内,滑靴的自适应润滑效果通过油膜厚度场和压力场的耦合变化形成自适应动压支承效应来实现。