Modeling and Parameter Sensitivity Analysis of Valve-Controlled Helical Hydraulic Rotary Actuator System

Abstract

As a type of hydraulic rotary actuator, a helical hydraulic rotary actuator exhibits a large angle, high torque, and compact structure; hence, it has been widely used in various fields. However, its core technology is proprietary to several companies and thus has not been disclosed. Furthermore, the relevant reports are primarily limited to the component level. The dynamic characteristics of the output when a helical rotary actuator is applied to a closed-loop system are investigated from the perspective of driving system design. Two main aspects are considered: one is to establish a reliable mathematical model and the other is to consider the effect of system parameter perturbation on the output. In this study, a detailed mechanical analysis of a helical rotary hydraulic cylinder is first performed, factors such as friction and load are considered, and an accurate dynamic model of the actuator is established. Subsequently, considering the nonlinear characteristics of pressure flow and the dynamic characteristics of the valve, a dynamic model of a valve-controlled helical rotary actuator angle closed-loop system is described based on sixth-order nonlinear state equations, which has never been reported previously. After deriving the system model, a sensitivity analysis of 23 main parameters in the model with a perturbation of 10% is performed under nine operating conditions. Finally, the system dynamics model and sensitivity analysis results are verified via a prototype experiment and co-simulation, which demonstrate the reliability of the theoretical results obtained in this study. The results provide an accurate mathematical model and analysis basis for the structural optimization or control compensation of similar systems.

Quantitative Comparative Study on the Performance of a Valve-Controlled Actuator and Electro-Hydrostatic Actuator

“…1) Sensitivity analysis method Sensitivity analysis is an analysis method that changes the variables of a model within a certain range to observe the behavior or changes of the model [44]. There are many sensitivity analysis methods, among which the derivative-based sensitivity index is the most commonly used [45], and its calculation is as follows:…”

Study of Error Flow for Hydraulic System Simulation Models for Construction Machinery Based on the State-Space Approach

“…Andrzej et al [38] investigated the control of the electrohydraulic linear actuator. Zhang et al [39] carried out modeling and model parameter sensitivity analysis on the valve-controlled helical hydraulic rotary actuator system. However, there is currently no reported research on the error flow analysis in the modeling process of the valve-controlled cylinder system.…”

A Hybridization Grey Wolf Optimizer to Identify Parameters of Helical Hydraulic Rotary Actuator

“…where q L = q 1 +q 2 2 refers to the load flow; q 1 and q 2 are the supply flow rates; Y = θ 2πζ , (ζ = S 1 +S 2 S 1 S 2 ) is the piston displacement [2]; θ denotes the rotation angle; S i represents the leads of the two-stage helical pair; A denotes the effective area of the hydraulic cylinder piston; β e refers to the effective hydraulic fluid bulk modulus; C t is the coefficient of internal leakage; V t refers to the total control volume of the hydraulic actuator; and P L = p 1 − p 2 shows the load pressure difference, where p 1 and p 2 are forward chamber pressure and return chamber pressure, respectively.…”

“…Thereof, a helical hydraulic rotary actuator (HHRA) is used to convert hydraulic power into rotary mechanical power. With a set of helical gears and a cylinder, it converts a linear output into an oscillatory or rotary output [2]. Therefore, HHRA has been widely applied in various engineering equipment [3][4][5], including aircraft, tunnel boring machines, robotics, and agricultural, construction, and mining machinery.…”