Name: a modeling and simulation method for preliminary design of an electro-variable displacement pump
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作者感谢北京精密机电一体化与控制研究所对这项研究的支持。

注意：Matlab 和 Simcenter Amesim（以下简称系统仿真平台）用于此协议，并列在 材料表中。然而，所提出的协议并不局限于在这两个软件应用中实现。
1. 选择 EVDP 设计参数并对其进行分类（图 2 中的步骤 1）。
<ol><li>将 图 1 中 EVDP 的架构拆解为柱塞泵单元、滚珠丝杠、变速箱、PMSM 和控制器。检...

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EVDP的概念和其他技术组成部分已在以前的出版物6，31中提出，展示了EVDP的适用性和优势。本文没有研究EVDP本身，而是继续研究与未来实际应用需求相关的设计方法。对于这种类型的高度集成和多学科耦合产品，需要特定的设计方法，这需要微妙的性能权衡和优化。本文提出并说明了EVDP建模与仿真的初步设计完整过程。该过程从该任务的总体和实践角?...

电动静液压执行器（EHAs）由于结合了电动执行器和液压执行器的优势，因此在工业压力机，大型移动机械，起重机机械手和初级飞机控制等应用中越来越受到关注1.可以确定两种基本类型的EHAs：变速EHAs和可变排量EHAs2。目前，变速EHA由于其更高的效率和简单性而比可变排量EHA更受欢迎。然而，随着重型运载火箭3 和潜艇4等重型车辆所需的EHA的更高功率水平，变速EHA的驱动电机和相关电子设备也存在与低动态，高散热，高价格等相关的问题。因此，对于这些高功率应用（>30 kW），可变排量EHA正在重新考虑，因为其控制是通过调节泵排量的低功耗器件实现的。
防止可变排量EHA成为优先事项的一个主要问题是其笨重的泵排量控制单元，它本身就是一个完整的阀门控制的液压系统。电动变量泵（EVDP）通过使用紧凑型电动排量控制单元来解决这个问题。这种设计提高了可变位移EHA的紧凑性，效率等，在一定程度上解决了以前的弱点。因此，通过使用新提出的EVDP，可以促进在高功率应用中使用可变位移EHAs。然而，与传统的液压控制可变排量泵相比，EVDP的复杂性要高得多，因为它集成了来自多个新学科的组件。因此，出现了基于EVDP的具体研究活动。我们的研究小组开始了EVDP研究5 ，并继续开发它6。Liu开发了用于EHA应用的EVDP并进行了实验测试7。一些液压公司还提供EVDP产品。除了对EVDP技术组件的研究外，响应实际应用要求的设计方法对于通过进一步降低使用EVDP的成本和探索其性能潜力来增强EVDP的能力也具有重要意义。因此，需要特定的EVDP初步设计方法，通过分析其耦合学科来优化其系统级性能的权衡。基于仿真的初步设计对机电一体化产品的这种多学科耦合很有意义8.
虽然由于EVDP初步设计的具体仿真模型是新提出的概念，但尚未提出具体的仿真模型，但相关机电一体化产品投入了大量研究。在初步设计9中，已经构建了动态EHA模型以优化重量，效率和控制性能，但未涉及寿命，可靠性，热特性等，这些是初步设计中应考虑的基本性能指标。另一个动态EHA模型也被用来优化成本、效率和控制性能10，随后开发了一个热模型来评估优化的EHA11的热特性，但没有考虑可靠性和寿命。综合机电执行器（EMA）初步设计方法已经给出了12。针对该方法提出了具有不同功能、能够分析不同特性的特定模型，并开发了13个可靠性和寿命模型。可以评估机械强度，功率能力，热性能等，但不涉及控制性能。另一种EMA初步设计方法利用动态EMA模型和相关的组件尺寸模型14。仿真分析涉及成本、重量、疲劳寿命、功率容量、物理约束等，但未考虑可靠性和控制性能。提出了一种用于液压混合动力传动系15的优化设计的动力学模型。可以模拟功率容量，效率，控制等，但未考虑可靠性和寿命。提出了基于EHA的飞行控制驱动系统分析模型，其中使用了简单的动力传输方程和重量函数16。考虑到这些模型用于车辆一级和特派团一级的分析，这些模型的有限属性覆盖面是适当的。伺服电机作为EHA的主要部件，在建模和设计方面引起了人们的单独关注，其结果也对EHA模型开发具有指导意义。热网络，权重模型等，也可以考虑用于EHA建模17，18，19。综述文献表明，即使考虑EVDP相关产品的结果，所开发的模型也不会分析产品的所有有影响力的性能属性以进行初步设计。控制性能、热性能、可靠性和使用寿命是模型构建中最容易被忽视的属性。为此，本文提出了一种能够分析EVDP初步设计中所有最有影响力的性能属性的模型包。仿真分析也进行了说明，以更好地说明模型功能。本文是前期出版物20的延伸，改进了参数生成，涉及寿命模型、可靠性模型和控制模型，优化了计算成本，验证了模型，并进行了深入的仿真分析等。
变排量柱塞泵的常规液压控制单元被电动执行器取代，以提高紧凑性并减少散热，如图 1所示。电动执行器由滚珠丝杠、齿轮箱和永磁同步电机（PMSM）组成。电动执行器通过杆连接十字盘，以调节泵的排量。当应用于EHAs时，EVDP斜盘旋转位置通过调制PMSM进行闭环控制。电动执行器与柱塞泵在相互的情况下集成在一起，形成一个整体组件。这种设计将电动执行器浸没在工作液中，从而增强了多域耦合效应。
由于EVDP是典型的多域机电一体化产品，其初步设计在优化其系统级性能的权衡和概述组件设计要求方面发挥着至关重要的作用。该过程示于 图2 中基于仿真的设计方案10、12。步骤1首先分析所选的EVDP架构，如图 1所示，并根据指定的性能要求得出设计参数。然后，设计任务通常转换为优化问题，以探索EVDP的性能优化。这是通过将设计参数转换为优化变量并将性能要求转换为目标和约束来实现的。值得注意的是，设计参数需要分为主动、驱动和经验类别。由于活动参数的独立功能，只有活动参数被用作优化变量。其他两个类别是通过活动参数的估计自动生成的。因此，步骤 2 开发了驱动参数和经验参数的估计模型。这些估计工具用于优化的每次迭代，以及步骤5中用于制定所有必需的仿真参数。步骤 3 为每个优化目标或约束构建计算模型，以反映所需的性能。这些模型应该在计算上是有效的;否则，优化计算成本将不可接受。步骤4执行优化计算，通常是多目标和多学科的。它还处理初步设计阶段的参数不确定性。步骤5构建设计EVDP的整体模型，并通过在典型占空比下仿真EVDP来验证优化结果。该模型是评估初步设计结果的终极工具。因此，该模型应具有最高的保真度，并涉及紧耦合样式中的所有有影响力的特征。最后，获得初步设计性能结果和系统级尺寸测量结果。
本文重点介绍EVDP的系统建模和仿真方法，包括对步骤1中的参数分析以及完成步骤2和5。首先，根据EVDP架构和设计要求推导设计参数，分为三个子类。其次，基于标度定律、组件目录、经验函数等，开发非活动参数的估计模型。第三，利用多学科耦合方程和附加的寿命和可靠性子模型构建EVDP的整体模型，并通过实验对模型进行了部分验证。最后，将先前的尺寸调整结果导入到构建的模型中，以在典型占空比下执行仿真分析。根据仿真结果推导系统级性能。还评估了设计的参数灵敏度和鲁棒性。为此，本文为EVDP初步设计开发了一种特定的建模和仿真方法。EVDP在EHA中的应用性能得到了全面的预测。所提出的方法是开发用于大功率应用的EVDP和可变位移EHAs的实用工具。该方法也可用于为其他类型的机电一体化产品开发仿真工具。本文中的EVDP是指机电控制变排量泵，但电液控制变排量泵不在本文的讨论范围之内。

<table border="1" fo:keep-together.within-page="1" fo:keep-with-next.within-page="always">
	<tbody>
		<tr>
			<td>Ball screw</td>
			<td>NSK</td>
			<td>PSS</td>
			<td></td>
		</tr>
		<tr>
			<td>EVDP prototype</td>
			<td>Beijing Institute of Precision Mechatronics and Controls</td>
			<td>customized</td>
			<td>7.4 mL/rev, 7000 rpm, 21 Mpa</td>
		</tr>
		<tr>
			<td>EVDP testrig</td>
			<td>Beijing Institute of Precision Mechatronics and Controls</td>
			<td>customized</td>
			<td>Refer to Figure 7, can be adapted upon individual needs. Including Power PMAC controller, ELMO Whistle Driver, etc.</td>
		</tr>
		<tr>
			<td>Gearhead</td>
			<td>Maxon</td>
			<td>GP</td>
			<td></td>
		</tr>
		<tr>
			<td>Matlab</td>
			<td>Mathworks</td>
			<td>R2020a</td>
			<td></td>
		</tr>
		<tr>
			<td>Permannet magnet synchronous motor</td>
			<td>Maxon</td>
			<td>393023</td>
			<td></td>
		</tr>
		<tr>
			<td>Piston pump</td>
			<td>Bosch Rexroth</td>
			<td>A10VZO</td>
			<td></td>
		</tr>
		<tr>
			<td>Simcenter Amesim</td>
			<td>Siemens</td>
			<td>2021.1</td>
			<td>system simulation platform</td>
		</tr>
	</tbody>
</table>

a modeling and simulation method for preliminary design of an electro-variable displacement pump

静电静液压执行器（EHAs）在学术界得到了广泛的研究，它们在各个工业领域的应用正在扩大。变速EHA现在已经优先于可变排量EHA，但其驱动电机和相关电子设备在应用于高功率应用时会遇到问题：低动态，高散热，高价格等。因此，已经考虑了配备电动可变排量泵（EVDP）的可变排量EHA。EVDP本身是一个机电一体化系统，集成了柱塞泵，滚珠丝杠，变速箱和永磁同步电机（PMSM）。因此，需要对EVDP进行调查，以确保其在EHA中应用时的系统级性能。除了之前对EVDP技术参数的研究外，还需要专门的设计方法，以进一步降低EVDP的使用成本并探索其性能潜力。本文采用基于仿真的EVDP初步设计方法设计37 kW EVDP。首先，通过改进参数生成（包括EVDP寿命、可靠性、控制模型等）来扩展先前提出的EVDP多学科模型。其次，使用小型原型对所提出的模型进行了部分验证。第三，在所提出的模型的支持下，在系统级对EVDP进行仿真。EVDP 性能根据指定的设计要求进行评估。EVDP的温度、带宽和精度、可靠性和使用寿命等都是预测的。仿真结果验证了EVDP在可变位移EHA中的适用性。所提出的建模和仿真方法可用于评估各种EVDP性能并响应一般设计要求。该方法还可以在有限的信息和鲁棒性方面支持解决初步设计挑战。因此，所提方法适用于实现基于仿真的EVDP初步设计方法。

本节介绍从执行所有协议步骤中获得的结果，这些步骤构成了步骤1，步骤2的所有步骤以及 图2中EVDP初步设计方法的所有步骤5的一部分。协议中的输入信息包括 图1中的EVDP原理图、图 2步骤4中EVDP的优化有源参数（在步骤5.1.1中阐明），以及与EVDP设计要求相关的EVDP性能仿真任务。该协议的结果是EVDP的最终初步设计结果，包括EVDP设...

Watch this Scientific Journal Video about A Modeling and Simulation Method for Preliminary Design of an Electro-Variable Displacement Pump at JoVE.com

A Modeling and Simulation Method for Preliminary Design of an Electro-Variable Displacement Pump

开发了一种专门支持电动变量泵（EVDP）初步设计的仿真模型，并通过实验进行了部分验证。控制性能、寿命、可靠性等都可以使用所提出的模型进行评估，该模型涵盖了EVDP初步设计任务下的主要性能要求。

一种电动变量泵初步设计的建模与仿真方法

Electro-hydrostatic actuators (EHAs) have been considerably researched in academia, and their applications in various industrial fields are expanding. The ...

静电静液压活化器支持重型系统的电气化。为了实现更低的能耗，我们的方法集中于优化、电动变量泵的系统利用率。我们的建模和仿真方法支持初步设计。我们的电动变量泵，它应该选择完整的性能预测，自动参数生成和设计鲁棒性。首先对参数进行分类，以设计电动变量泵或EVDP。将独立参数（表示每个元件）指定给活动类别，并将从活动参数派生的参数指定给从动类别。然后使用经验函数将计算的参数指定为经验类别。要开发估计模型，请使用缩放定律从活动参数估计泵和电机驱动参数。使用零部件目录，根据活动参数估计齿轮箱和滚珠丝杠的从动参数。通过经验函数评估泵、齿轮箱和滚珠丝杠效率，并估计使用热力学理论中的经验函数开发的热网络模型的热阻。在MATLAB中构建EVDP的权重模型，方法是将每个组件的权重相加，然后在系统仿真平台中对EVDP进行动态集总参数建模。接下来，通过为EVDP设置热网络，在系统仿真平台中对EVDP进行热建模。对于寿命和可靠性建模，请使用滚珠的疲劳寿命和柱塞泵单元的磨损寿命作为其寿命。使用等式对滚珠丝杠和柱塞泵单元的使用寿命进行建模。假设滚珠丝杠和泵的可靠性与其使用寿命相对应，为0.90，并将可靠性定义为在第50， 000个工作小时计算得出。然后用等式对滚珠丝杠和柱塞泵单元的可靠性进行建模。通过将每个节点的所有方程放在一起以形成每个节点的模型块，继续组装模型。然后总结每个节点的输入和输出变量。定义整个 EVDP 模型的输入和输出，并执行所有节点的因果关系分析。必要时添加其他节点，以确保所有节点都是因果链接的。然后连接所有节点，形成EVDP的整体模型。形成 EVDP 模型后，使用 EVDP 原型和测试台验证建模方法。为此，请将 EVDP 安装在由加载部件和控制部件组成的测试台上。然后将三个EVDP端口连接到装载部分的液压回路，将EVDP电缆连接到控制部分。通过按下面板上的启动按钮并启动辅助液压动力来进行原型测试。使用面板上的按钮停用模式阀后，在用户界面的文本框中将扫描频率位移命令设置为EVDP。记录EVDP位移响应，并推导出其幅度和相位特性。为了分析实验结果，将EVDP原型的活动参数设置为先前构建的模型。该模型将自动生成其他所需的仿真参数。将环境温度和初始 EVDP 温度设置为 40 摄氏度，并在与 EVDP 原型测试相同的条件下运行仿真模型，以记录仿真结果。为了检查模型的准确性，请在一个图中绘制每个条件组的实验和仿真结果。要执行 EVDP 设计的仿真分析，请单击参数模式选项卡并选择 TFFD31 选项来设置动态和热模型。然后转到简单流体特性数据选项卡的文件名以导入油属性文件。在参数模式下，使用 THGCV01 或 THGCV02 模块。要按照手稿中所述设置环境温度，请将活动参数输入到参数估计模型中。然后单击编辑器选项卡下的运行按钮以运行用于生成所有仿真参数的脚本。在 MATLAB 中，使用编辑器选项卡下的运行按钮运行用于计算权重的脚本，并使用仿真参数激活动态和热模型。模拟结果将由脚本自动获得。使用编辑器选项卡下的运行按钮，运行脚本以根据保存的仿真结果计算 EVDP 生存期和可靠性性能。进入系统仿真平台的仿真模式，查看结果。然后从这些时域仿真结果中推导出其他 EVDP 性能结果。要设置仿真参数，请检查参数模式。然后使用编辑器选项卡下的运行按钮运行用于激活动态和热模型的脚本。稍后，按仿真模式选项卡以检查灵敏度和不确定性分析。不同EDVP器件的温度动态如图所示。具有代表性的分析说明了整个占空比下的EVDP效率。在满载条件下，EVDP的总效率达到80%左右，之后EVDP的绝对损耗下降，效率下降。扫描频率响应检查了EVDP的动态性能。在EVDP的预期性能中，预测了0.09度误差的良好控制精度，而泵的使用寿命和可靠性则最差。构建出建议的模型后，可以开发完整的初步设计方法。该方法可以增强电动变量泵及其相关静电活化剂的适用性。该方法解决了设计阶段的常见挑战，例如参数确定性和多学科仿真。这导致用于静电活化剂的泵的更可靠，更初步的设计。

Research

Education

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Mechanical Engineering

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Unit 1

Virtual Work

SCIENTISTS IN ACTION

Simulation, Fabrication and Characterization of THz Metamaterial Absorbers

模拟，太赫兹超材料吸收器的制备与表征

Metamaterials (MM),  artificial materials engineered to have properties that may not be found in  nature, have been widely explored since the first ...

科研

工程学

Design and Use of a Full Flow Sampling System (FFS) for the Quantification of Methane Emissions

Design and Use of a Full Flow Sampling System FFS for the Quantification of Methane Emissions

设计和全流采样系统（FFS）的使用甲烷排放的量化

The use of natural gas continues to grow with increased discovery and production of unconventional shale resources. At the same time, the natural gas ...

Study of Siphon Breaker Experiment and Simulation for a Research Reactor

研究堆虹吸断路器试验与仿真研究

Under the design conditions of a research reactor, the siphon phenomenon induced by pipe rupture can cause continuous outward flow of water. To prevent ...

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

基于闭环控制策略的智能机器人模块化设计与制作

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach ...

Design and Fabrication of an Optical Fiber Made of Water

一种水上光纤的设计与制造

In this report, an optical fiber of which the core is made solely of water, while the cladding is air, is designed and manufactured. In contrast with ...

A Random-displacement Measurement by Combining a Magnetic Scale and Two Fiber Bragg Gratings

通过组合磁量表和两个光纤布拉格光栅进行随机位移测量

Long-distance displacement measurements using optical fibers have always been a challenge in both basic research and industrial production. We developed ...

A 100 KW Class Applied-field Magnetoplasmadynamic Thruster

一个100千瓦级的应用场磁等离子体动力学推进器

Applied-field magnetoplasmadynamic thrusters (AF-MPD thrusters) are hybrid accelerators in which electromagnetic and gas dynamic processes accelerate ...

Structural Design and Manufacturing of a Cruiser Class Solar Vehicle

巡洋舰级太阳能车的结构设计与制造

Cruisers are multi-occupant solar vehicles that are conceived to compete in long-range (over 3,000 km) solar races based on the best compromise between ...

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

一种用于体外超声的自定义机器人机械手的设计与实现

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ...

A Rapid Method for Modeling a Variable Cycle Engine

可变循环引擎建模的快速方法

The variable cycle engines (VCE) that combine the advantages of turbofan and turbojet engines, are widely considered to be the next generation aircraft ...